Visual preview for laser fabrication

ABSTRACT

A computer numerically controlled machine may include a movable head configured to deliver electromagnetic energy to a part of a working area in which the movable head may be commanded to cause delivery of the electromagnetic energy. The interior space may be defined by a housing and may include an openable barrier that attenuates transmission of light between the interior space and an exterior of the computer numerically controlled machine when the openable barrier is in a closed position. The computer numerically controlled machine may include an interlock that prevents emission of the electromagnetic energy when detecting that the openable barrier is not in the closed position. The commanding may result in the computer numerically controlled machine executing operations of a motion plan for causing movement of the movable head to deliver the electromagnetic energy to effect a change in a material at least partially contained within the interior space.

CROSS-REFERENCE TO RELATED APPLICATIONS

The current application claims priority to U.S. Provisional PatentApplication No. 62/115,562 filed Feb. 12, 2015; U.S. Provisional PatentApplication No. 62/115,571 filed Feb. 12, 2015; U.S. Provisional PatentApplication No. 62/222,756 filed Sep. 23, 2015; U.S. Provisional PatentApplication No. 62/222,757 filed Sep. 23, 2015; and U.S. ProvisionalPatent Application No. 62/222,758 filed Sep. 23, 2015. The writtendescription, claims, and drawings of all of the aforementionedapplications are incorporated herein by reference.

TECHNICAL FIELD

The subject matter described herein relates to manufacturing processesimplementing, or aided by, machine vision incorporating a wide-angleviewing system inside the manufacturing machine.

BACKGROUND

Computer controlled manufacturing systems, such as “3-D printers,” lasercutter/engravers, CNC milling machines, and the like, can be used tocreate complicated items where traditional manufacturing techniques likemoldings or manual assembly fail. Such automated methods operate basedon instructions that specify the cuts, layers, patterns, and otheractions to be performed. The instructions can be in the form of computerfiles transferred to the memory of a computer controller for the machineand interpreted at run-time to provide a series of steps in themanufacturing process.

SUMMARY

In one aspect, a computer numerically controlled machine includes amovable head configured to deliver electromagnetic energy to a part of aworking area defined by limits within which the movable head iscommanded to cause delivery of the electromagnetic energy. The workingarea is inside an interior space of the laser computer numericallycontrolled machine. The interior space is defined by a housing includesan openable barrier that attenuates transmission of light between theinterior space and an exterior of the computer numerically controlledmachine when the openable barrier is in a closed position. The computernumerically controlled machine includes an interlock that preventsemission of the electromagnetic energy when detecting that the openablebarrier is not in the closed position. The commanding results in thecomputer numerically controlled machine executing operations of a motionplan for causing movement of the movable head to deliver theelectromagnetic energy to effect a change in a material at leastpartially contained within the interior space.

An image is generated including at least half of the working area withat least one camera. The generating occurs when the interlock is notpreventing the emission of the electromagnetic energy.

In another aspect, a computer numerically controlled machine includes amovable head configured to deliver electromagnetic energy to a part of aworking area defined by limits within which the movable head iscommanded to cause delivery of the electromagnetic energy. The workingarea is inside an interior space of the laser computer numericallycontrolled machine. The interior space is defined by a housing includesan openable barrier that attenuates transmission of light between theinterior space and an exterior of the computer numerically controlledmachine when the openable barrier is in a closed position. Thecommanding results in the computer numerically controlled machineexecuting operations of a motion plan for causing movement of themovable head to deliver the electromagnetic energy to effect a change ina material at least partially contained within the interior space.

Emission of the electromagnetic energy is temporarily prevented. Also,an image including at least half of the working area with at least onecamera is be generated. The generating occurs when the openable barrieris in the closed position and during the temporality preventing of theemission of the electromagnetic energy.

In some variations one or more of the following features can optionallybe included in any feasible combination.

The change in the material can include at least one of cutting, etching,bleaching, curing, and burning. The image can be processed to removedistortion. The distortion can include chromatic aberration. The imagecan be enhanced by increasing contrast. Pixels in the image can bemapped to corresponding physical locations within the working area.

The one camera is not mounted to the movable head or the camera isattached to the openable barrier. The camera can be a single camera thatis not mounted to the movable head. The single camera can be mountedwithin the interior space and opposite the working area or attached tothe openable barrier.

An image with the single camera can be taken when the openable barrieris not in the closed position, the additional image can include anobject exterior to the interior space. The object exterior to theinterior space can be a user of the computer numerically controlledmachine.

The camera can be capable of motion. The motion can include atranslation to positions, rotation, and tilting along one or more axes.The camera can be mounted to a translatable support. The translatablesupport can include the moveable head.

The generating of the image can include capturing sub-images by thecamera, and the generating can include assembling the sub-images togenerate the image. Second sub-images can be captured after motion ofthe at least camera relative first sub-images. The assembling caninclude stitching the plurality of sub-images to create the image.

The image can be processed to generate data related to one or more of aposition, a higher order derivative of location, a velocity, anacceleration, an anomalous condition, and a non-anomalous condition of amovable component of the computer numerically controlled machinecaptured in the image. An action can initiate or terminate anotheraction based on the generated data.

The movable component can be disposed in a fixed spatial relationship tothe movable head, where the method further can include using the data toupdate software controlling operation of the computer numericallycontrolled machine with the movable head position and a higher orderderivative thereof. The movable component can include an identifiablemark on the movable head. The movable component can include the movablehead and/or a gantry.

The image can be processed using one or more mathematical operations onthe image and additional images of the working area. The mathematicaloperation can result in an improved image for analyzing imaged objectsin the image relative to the image alone.

Additional images of the working area can be captured in conjunctionwith causing a change in operation of a component of the computernumerically controlled machine. The change in operation can includechanging a light output of lights between taking the image and theadditional images. The position of the component can be changed betweentaking the image and additional images, and vibrating the camera whiletaking the image and/or the additional images. The improved image caninclude sharpening, correction of lighting artifacts, averaging, edgedetection, and noise elimination relative to the image. The images canbe generated with differing lighting conditions created by light sourcesinside the interior space. The light sources can include light resultingfrom operation of laser.

A camera can be triggered based on a signal from a sensor integratedinto the computer numerically controlled machine where, sensor is not auser-operable camera control.

Implementations of the current subject matter can include, but are notlimited to, methods consistent with the descriptions provided herein aswell as articles that comprise a tangibly embodied machine-readablemedium operable to cause one or more machines (e.g., computers, etc.) toresult in operations implementing one or more of the described features.Similarly, computer systems are also described that may include one ormore processors and one or more memories coupled to the one or moreprocessors. A memory, which can include a computer-readable storagemedium, may include, encode, store, or the like one or more programsthat cause one or more processors to perform one or more of theoperations described herein. Computer implemented methods consistentwith one or more implementations of the current subject matter can beimplemented by one or more data processors residing in a singlecomputing system or multiple computing systems. Such multiple computingsystems can be connected and can exchange data and/or commands or otherinstructions or the like via one or more connections, including but notlimited to a connection over a network (e.g. the Internet, a wirelesswide area network, a local area network, a wide area network, a wirednetwork, or the like), via a direct connection between one or more ofthe multiple computing systems, etc.

DESCRIPTION OF DRAWINGS

The accompanying drawings, which are incorporated in and constitute apart of this specification, show certain aspects of the subject matterdisclosed herein and, together with the description, help explain someof the principles associated with the disclosed implementations. In thedrawings,

FIG. 1 is an elevational view of a CNC machine with a camera positionedto capture an image of the entire material bed and another camerapositioned to capture an image of a portion of the material bed,consistent with some implementations of the current subject matter;

FIG. 2 is a top view of the implementation of the CNC machine shown inFIG. 1;

FIG. 3A is a diagram illustrating one example of an SVG source file,consistent with some implementations of the current subject matter;

FIG. 3B is an example of a graphical representation of the cut path inthe CNC machine, consistent with some implementations of the currentsubject matter;

FIG. 3C is a diagram illustrating the machine file corresponding to thecut path and the source file, consistent with some implementations ofthe current subject matter;

FIG. 4A is a diagram illustrating the addition of images, consistentwith some implementations of the current subject matter;

FIG. 4B is a diagram illustrating the subtraction of images, consistentwith some implementations of the current subject matter;

FIG. 4C is a diagram illustrating the differencing of images to isolatea simulated internal lighting effect, consistent with someimplementations of the current subject matter;

FIG. 5 is a diagram illustrating the lid camera imaging athree-dimensional object in the CNC machine, consistent with someimplementations of the current subject matter;

FIG. 6 is a diagram illustrating expressing the object imaged in FIG. 5as a collection of 2-D patterns overlaid on the material in the CNCmachine, consistent with some implementations of the current subjectmatter;

FIG. 7 is a diagram illustrating a collection of 2-D patterns previewedas a three dimensional object, consistent with some implementations ofthe current subject matter;

FIG. 8 is a diagram illustrating a head camera imaging a watermarkpresent on material in the CNC machine, consistent with someimplementations of the current subject matter;

FIG. 9 is a diagram illustrating the determination of material thicknessby the lid camera imaging a spot on the material produced by adistance-finding light source, consistent with some implementations ofthe current subject matter;

FIG. 10 is a diagram illustrating determination of material thickness byimaging a laser spot size, consistent with some implementations of thecurrent subject matter;

FIG. 11 is a diagram illustrating a scattered light detector determiningif a cut extends through the material, consistent with someimplementations of the current subject matter;

FIG. 12 is a diagram illustrating correcting aberrations in imagesacquired by a camera with a wide field of view, consistent with someimplementations of the current subject matter;

FIG. 13 is a process flow chart illustrating features of a methodconsistent with implementations of the current subject matter; and

FIG. 14 is a process flow chart illustrating features of a methodconsistent with implementations of the current subject matter.

When practical, similar reference numbers denote similar structures,features, or elements.

DETAILED DESCRIPTION

The details of one or more variations of the subject matter describedherein are set forth in the accompanying drawings and the descriptionbelow. Other features and advantages of the subject matter describedherein will be apparent from the description and drawings, and from theclaims. While certain features of the currently disclosed subject mattermay be described for illustrative purposes in relation to usingmachine-vision for aiding automated manufacturing processes (e.g. a CNCprocess), it should be readily understood that such features are notintended to be limiting.

As used herein, the term “cutting” can generally refer to altering theappearance, properties, and/or state of a material. Cutting can include,for example, making a through-cut, engraving, bleaching, curing,burning, etc. Engraving, when specifically referred to herein, indicatesa process by which a CNC machine modifies the appearance of the materialwithout fully penetrating it. For example, in the context of a lasercutter, it can mean removing some of the material from the surface, ordiscoloring the material e.g. through an application of focusedelectromagnetic radiation delivering electromagnetic energy as describedbelow.

As used herein, the term “laser” includes any electromagnetic radiationor focused or coherent energy source that (in the context of being acutting tool) uses photons to modify a substrate or cause some change oralteration upon a material impacted by the photons. Lasers (whethercutting tools or diagnostic) can be of any desired wavelength, includingfor example, microwave, lasers, infrared lasers, visible lasers, UVlasers, X-ray lasers, gamma-ray lasers, or the like.

Also, as used herein, “cameras” includes, for example, visible lightcameras, black and white cameras, IR or UV sensitive cameras, individualbrightness sensors such as photodiodes, sensitive photon detectors suchas a photomultiplier tube or avalanche photodiodes, detectors ofinfrared radiation far from the visible spectrum such as microwaves,X-rays, or gamma rays, optically filtered detectors, spectrometers, andother detectors that can include sources providing electromagneticradiation for illumination to assist with acquisition, for example,flashes, UV lighting, etc.

Also, as used herein, reference to “real-time” actions includes somedegree of delay or latency, either programmed intentionally into theactions or as a result of the limitations of machine response and/ordata transmission. “Real-time” actions, as used herein, are intended toonly approximate an instantaneous response, or a response performed asquickly as possible given the limits of the system, and do not imply anyspecific numeric or functional limitation to response times or themachine actions resulting therefrom.

Also, as used herein, unless otherwise specified, the term “material” isthe material that is on the bed of the CNC machine. For example, if theCNC machine is a laser cutter, lathe, or milling machine, the materialis what is placed in the CNC machine to be cut, for example, the rawmaterials, stock, or the like. In another example, if the CNC machine isa 3-D printer, then the material is either the current layer, orpreviously existent layers or substrate, of an object being crafted bythe 3-D printing process. In yet another example, if the CNC machine isa printer, then the material can be the paper onto which the CNC machinedeposits ink.

INTRODUCTION

A computer numerical controlled (CNC) machine is a machine that is usedto add or remove material under the control of a computer. There can beone or more motors or other actuators that move one or more heads thatperform the adding or removing of material. For CNC machines that addmaterial, heads can incorporate nozzles that spray or release polymersas in a typical 3D printer. In some implementations, the heads caninclude an ink source such as a cartridge or pen. In the case of 3-Dprinting, material can be built up layer by layer until a fully realized3D object has been created. In some implementations, the CNC machine canscan the surface of a material such as a solid, a liquid, or a powder,with a laser to harden or otherwise change the material properties ofsaid material. New material may be deposited. The process can berepeated to build successive layers. For CNC machines that removematerial, the heads can incorporate tools such as blades on a lathe,drag knives, plasma cutters, water jets, bits for a milling machine, alaser for a laser cutter/engraver, etc.

FIG. 1 is an elevational view of a CNC machine 100 with a camerapositioned to capture an image of an entire material bed 150 and anothercamera positioned to capture an image of a portion of the material bed150, consistent with some implementations of the current subject matter.FIG. 2 is a top view of the implementation of the CNC machine 100 shownin FIG. 1.

The CNC machine 100 shown in FIG. 1 corresponds to one implementation ofa laser cutter. While some features are described in the context of alaser cutter, this is by no means intended to be limiting. Many of thefeatures described below can be implemented with other types of CNCmachines. The CNC machine 100 can be, for example, a lathe, engraver,3D-printer, milling machine, drill press, saw, etc.

While laser cutter/engravers share some common features with CNCmachines, they have many differences and present particularlychallenging design constraints. A laser cutter/engraver is subject toregulatory guidelines that restrict the egress of electromagneticradiation from the unit when operating, making it challenging for lightto enter or escape the unit safely, for example to view or record animage of the contents. The beam of a laser cutter/engraver must berouted from the emitter to the area to be machined, potentiallyrequiring a series of optical elements such as lenses and mirrors. Thebeam of a laser cutter/engraver is easily misdirected, with a smallangular deflection of any component relating to the beam pathpotentially resulting in the beam escaping the intended path,potentially with undesirable consequences. A laser beam may be capableof causing material destruction if uncontrolled. A laser cutter/engravermay require high voltage and/or radio frequency power supplies to drivethe laser itself. Liquid cooling is common in laser cutter/engravers tocool the laser, requiring fluid flow considerations. Airflow isimportant in laser cutter/engraver designs, as air may becomecontaminated with byproducts of the laser's interaction with thematerial such as smoke, which may in turn damage portions of the machinefor example fouling optical systems. The air exhausted from the machinemay contain undesirable byproducts such as smoke that must be routed orfiltered, and the machine may need to be designed to prevent suchbyproducts from escaping through an unintended opening, for example bysealing components that may be opened. Unlike most machining tools, thekerf—the amount of material removed during the operation—is both smalland variable depending on the material being processed, the power of thelaser, the speed of the laser, and other factors, making it difficult topredict the final size of the object. Also unlike most machining tools,the output of the laser cutter/engraver is very highly dependent on thespeed of operation; a momentary slowing can destroy the workpiece bydepositing too much laser energy. In many machining tools, operatingparameters such as tool rotational speed and volume of material removedare easy to continuously predict, measure, and calculate, while lasercutter/engravers are more sensitive to material and other conditions. Inmany machining tools, fluids are used as coolant and lubricant; in lasercutter/engravers, the cutting mechanism does not require physicalcontact with the material being affected, and air or other gasses may beused to aid the cutting process in a different manner, by facilitatingcombustion or clearing debris, for example.

The CNC machine 100 can have a housing surrounding an enclosure orinterior area defined by the housing. The housing can include walls, abottom, and one or more openings to allow access to the CNC machine 100,etc. There can be a material bed 150 that can include a top surface onwhich the material 140 generally rests.

In the implementation of FIG. 1, the CNC machine can also include anopenable barrier as part of the housing to allow access between anexterior of the CNC machine and an interior space of the CNC machine.The openable barrier can include, for example, one or more doors,hatches, flaps, and the like that can actuate between an open positionand a closed position. The openable barrier can attenuate thetransmission of light between the interior space and the exterior whenin a closed position. Optionally, the openable barrier can betransparent to one or more wavelengths of light or be comprised ofportions of varying light attenuation ability. One type of openablebarrier can be a lid 130 that can be opened or closed to put material140 on the material bed 150 on the bottom of the enclosure. Variousexample implementations discussed herein include reference to a lid. Itwill be understood that absent explicit disclaimers of other possibleconfigurations of the operable barrier or some other reason why a lidcannot be interpreted generically to mean any kind of openable barrier,the use of the term lid is not intended to be limiting. One example ofan openable barrier can be a front door that is normally vertical whenin the closed position and can open horizontally or vertically to allowadditional access. There can also be vents, ducts, or other accesspoints to the interior space or to components of the CNC machine 100.These access points can be for access to power, air, water, data, etc.Any of these access points can be monitored by cameras, positionsensors, switches, etc. If they are accessed unexpectedly, the CNCmachine 100 can execute actions to maintain the safety of the user andthe system, for example, a controlled shutdown. In otherimplementations, the CNC machine 100 can be completely open (i.e. nothaving a lid 130, or walls). Any of the features described herein canalso be present in an open configuration, where applicable.

As described above, the CNC machine 100 can have one or more movableheads that can be operated to alter the material 140. In someimplementations, for example the implementation of FIG. 1, the movablehead can be the head 160. There may be multiple movable heads, forexample two or more mirrors that separately translate or rotate in ableto locate a laser beam, or multiple movable heads that operateindependently, for example two mill bits in a CNC machine capable ofseparate operation, or any combination thereof. In the case of alaser-cutter CNC machine, the head 160 can include optical components,mirrors, cameras, and other electronic components used to perform thedesired machining operations. Again, as used herein, the head 160typically is a laser-cutting head, but can be a movable head of anytype.

The head 160, in some implementations, can be configured to include acombination of optics, electronics, and mechanical systems that can, inresponse to commands, cause a laser beam or electromagnetic radiation tobe delivered to cut or engrave the material 140. The CNC machine 100 canalso execute operation of a motion plan for causing movement of themovable head. As the movable head moves, the movable head can deliverelectromagnetic energy to effect a change in the material 140 that is atleast partially contained within the interior space. In oneimplementation, the position and orientation of the optical elementsinside the head 160 can be varied to adjust the position, angle, orfocal point of a laser beam. For example, mirrors can be shifted orrotated, lenses translated, etc. The head 160 can be mounted on atranslation rail 170 that is used to move the head 160 throughout theenclosure. In some implementations the motion of the head can be linear,for example on an X axis, a Y axis, or a Z axis. In otherimplementations, the head can combine motions along any combination ofdirections in a rectilinear, cylindrical, or spherical coordinatesystem.

A working area for the CNC machine 100 can be defined by the limitswithin which the movable head can cause delivery of a machining action,or delivery of a machining medium, for example electromagnetic energy.The working area can be inside the interior space defined by thehousing. It should be understood that the working area can be agenerally three-dimensional volume and not a fixed surface. For example,if the range of travel of a vertically oriented laser cutter is a10″×10″ square entirely over the material bed 150, and the laser fromthe laser beam comes out of the laser cutter at a height of 4″ above thematerial bed of the CNC machine, that 400 in² volume can be consideredto be the working area. Restated, the working area can be defined by theextents of positions in which material 140 can be worked by the CNCmachine 100, and not necessarily tied or limited by the travel of anyone component. For example, if the head 160 could turn at an angle, thenthe working area could extend in some direction beyond the travel of thehead 160. By this definition, the working area can also include anysurface, or portion thereof, of any material 140 placed in the CNCmachine 100 that is at least partially within the working area, if thatsurface can be worked by the CNC machine 100. Similarly, for oversizedmaterial, which may extend even outside the CNC machine 100, only partof the material 140 might be in the working area at any one time.

The translation rail 170 can be any sort of translating mechanism thatenables movement of the head 160 in the X-Y direction, for example asingle rail with a motor that slides the head 160 along the translationrail 170, a combination of two rails that move the head 160, acombination of circular plates and rails, a robotic arm with joints,etc.

Components of the CNC machine 100 can be substantially enclosed in acase or other enclosure. The case can include, for example, windows,apertures, flanges, footings, vents, etc. The case can also contain, forexample, a laser, the head 160, optical turning systems, cameras, thematerial bed 150, etc. To manufacture the case, or any of itsconstituent parts, an injection-molding process can be performed. Theinjection-molding process can be performed to create a rigid case in anumber of designs. The injection molding process may utilize materialswith useful properties, such as strengthening additives that enable theinjection molded case to retain its shape when heated, or absorptive orreflective elements, coated on the surface or dispersed throughout thematerial for example, that dissipate or shield the case from laserenergy. As an example, one design for the case can include a horizontalslot in the front of the case and a corresponding horizontal slot in therear of the case. These slots can allow oversized material to be passedthrough the CNC machine 100.

Optionally, there can be an interlock system that interfaces with, forexample, the openable barrier, the lid 130, door, and the like. Such aninterlock is required by many regulatory regimes under manycircumstances. The interlock can then detect a state of opening of theopenable barrier, for example, whether a lid 130 is open or closed. Insome implementations, an interlock can prevent some or all functions ofthe CNC machine 100 while an openable barrier, for example the lid 130,is in the open state (e.g. not in a closed state). The reverse can betrue as well, meaning that some functions of the CNC machine 100 can beprevented while in a closed state. There can also be interlocks inseries where, for example, the CNC machine 100 will not operate unlessboth the lid 130 and the front door are both closed. Furthermore, somecomponents of the CNC machine 100 can be tied to states of othercomponents of the CNC machine, such as not allowing the lid 130 to openwhile the laser is on, a movable component moving, a motor running,sensors detecting a certain gas, etc. In some implementations, theinterlock can prevent emission of electromagnetic energy from themovable head when detecting that the openable barrier is not in theclosed position.

Converting Source Files to Motion Plans

A traditional CNC machine accepts a user drawing, acting as a sourcefile that describes the object the user wants to create or the cuts thata user wishes to make. Examples of source files are:

1) .STL files that define a three-dimensional object that can befabricated with a 3D printer or carved with a milling machine,

2) .SVG files that define a set of vector shapes that can be used to cutor draw on material,

3) .JPG files that define a bitmap that can be engraved on a surface,and

4) CAD files or other drawing files that can be interpreted to describethe object or operations similarly to any of the examples above.

FIG. 3A is a diagram illustrating one example of an SVG source file 310,consistent with some implementations of the current subject matter. FIG.3B is an example of a graphical representation 320 of the cut path 330in the CNC machine, consistent with some implementations of the currentsubject matter. FIG. 3C is a diagram illustrating the machine file 340that would result in a machine creating the cut path 330, created fromthe source file 310, consistent with some implementations of the currentsubject matter. The example source file 310 represents a work surfacethat is 640×480 units with a 300×150 unit rectangle whose top leftcorner is located 100 units to the right and 100 units down from thetop-left corner of the work surface. A computer program can then convertthe source file 310 into a machine file 340 that can be interpreted bythe CNC machine 100 to take the actions illustrated in FIG. 3B. Theconversion can take place on a local computer where the source filesreside on the CNC machine 100, etc.

The machine file 340 describes the idealized motion of the CNC machine100 to achieve the desired outcome. Take, for example, a 3D printer thatdeposits a tube-shaped string of plastic material. If the source filespecifies a rectangle then the machine file can instruct the CNC machineto move along a snakelike path that forms a filled in rectangle, whileextruding plastic. The machine file can omit some information, as well.For example, the height of the rectangle may no longer be directlypresent in the machine file; the height will be as tall as the plastictube is high. The machine file can also add some information. Forexample, the instruction to move the print head from its home positionto a corner of the rectangle to begin printing. The instructions caneven depart from the directly expressed intent of the user. A commonsetting in 3D printers, for example, causes solid shapes to be renderedas hollow in the machine file to save on material cost.

As shown by the example of FIGS. 3A-C, the conversion of the source file310 to the machine file 330 can cause the CNC machine to move thecutting tool from (0,0) (in FIG. 3B) to the point at which cutting is tobegin, activate the cutting tool (for example lower a drag knife orenergize a laser), trace the rectangle, deactivate the cutting tool, andreturn to (0,0).

Once the machine file has been created, a motion plan for the CNCmachine 100 can be generated. The motion plan contains the data thatdetermines the actions of components of the CNC machine 100 at differentpoints in time. The motion plan can be generated on the CNC machine 100itself or by another computing system. A motion plan can be a stream ofdata that describes, for example, electrical pulses that indicateexactly how motors should turn, a voltage that indicates the desiredoutput power of a laser, a pulse train that specifies the rotationalspeed of a mill bit, etc. Unlike the source files and the machine filessuch as G-code, motion plans are defined by the presence of a temporalelement, either explicit or inferred, indicating the time or time offsetat which each action should occur. This allows for one of the keyfunctions of a motion plan, coordinated motion, wherein multipleactuators coordinate to have a single, pre-planned affect.

The motion plan renders the abstract, idealized machine file as apractical series of electrical and mechanical tasks. For example, amachine file might include the instruction to “move one inch to theright at a speed of one inch per second, while maintaining a constantnumber of revolutions per second of a cutting tool.” The motion planmust take into consideration that the motors cannot accelerateinstantly, and instead must “spin up” at the start of motion and “spindown” at the end of motion. The motion plan would then specify pulses(e.g. sent to stepper motors or other apparatus for moving the head orother parts of a CNC machine) occurring slowly at first, then faster,then more slowly again near the end of the motion.

The machine file is converted to the motion plan by the motioncontroller/planner. Physically, the motion controller can be a generalor special purpose computing device, such as a high performancemicrocontroller or single board computer coupled to a Digital SignalProcessor (DSP). The job of the motion controller is to take the vectormachine code and convert it into electrical signals that will be used todrive the motors on the CNC machine 100, taking in to account the exactstate of the CNC machine 100 at that moment (e.g. “since the machine isnot yet moving, maximum torque must be applied, and the resulting changein speed will be small”) and physical limitations of the machine (e.g.accelerate to such-and-such speed, without generating forces in excessof those allowed by the machine's design). The signals can be step anddirection pulses fed to stepper motors or location signals fed toservomotors among other possibilities, which create the motion andactions of the CNC machine 100, including the operation of elements likeactuation of the head 160, moderation of heating and cooling, and otheroperations. In some implementations, a compressed file of electricalsignals can be decompressed and then directly output to the motors.These electrical signals can include binary instructions similar to 1'sand 0's to indicate the electrical power that is applied to each inputof each motor over time to effect the desired motion.

In the most common implementation, the motion plan is the only stagethat understands the detailed physics of the CNC machine 100 itself, andtranslates the idealized machine file into implementable steps. Forexample, a particular CNC machine 100 might have a heavier head, andrequire more gradual acceleration. This limitation is modeled in themotion planner and affects the motion plan. Each model of CNC machinecan require precise tuning of the motion plan based on its measuredattributes (e.g. motor torque) and observed behavior (e.g. belt skipswhen accelerating too quickly). The CNC machine 100 can also tune themotion plan on a per-machine basis to account for variations from CNCmachine to CNC machine.

The motion plan can be generated and fed to the output devices inreal-time, or nearly so. The motion plan can also be pre-computed andwritten to a file instead of streamed to a CNC machine, and then readback from the file and transmitted to the CNC machine 100 at a latertime. Transmission of instructions to the CNC machine 100, for example,portions of the machine file or motion plan, can be streamed as a wholeor in batches from the computing system storing the motion plan. Batchescan be stored and managed separately, allowing pre-computation oradditional optimization to be performed on only part of the motion plan.In some implementations, a file of electrical signals, which may becompressed to preserve space and decompressed to facilitate use, can bedirectly output to the motors. The electrical signals can include binaryinstructions similar to 1's and 0's to indicate actuation of the motor.

The motion plan can be augmented, either by precomputing in advance orupdating in real-time, with the aid of machine vision. Machine vision isa general term that describes the use of sensor data, and not onlylimited to optical data, in order to provide additional input to machineoperation. Other forms of input can include, for example, audio datafrom an on-board sound sensor such as a microphone, orposition/acceleration/vibration data from an on-board sensor such as agyroscope or accelerometer. Machine vision can be implemented by usingcameras to provide images of, for example, the CNC machine 100, thematerial being operated on by the CNC machine, the environment of theCNC machine 100 (if there is debris accumulating or smoke present), orany combination of these. These cameras can then route their output to acomputer for processing. By viewing the CNC machine 100 in operation andanalyzing the image data it can, for example, be determined if the CNCmachine 100 is working correctly, if the CNC machine 100 is performingoptimally, the current status of the CNC machine 100 or subcomponents ofthe CNC machine 100, etc. Similarly, the material can be imaged and, forexample, the operation of the CNC machine 100 can be adjusted accordingto instructions, users can be notified when the project is complete, orinformation about the material can be determined from the image data.Error conditions can be identified, such as if a foreign body has beeninadvertently left in the CNC machine 100, the material has beeninadequately secured, or the material is reacting in an unexpected wayduring machining.

Camera Systems

Cameras can be mounted inside the CNC machine 100 to acquire image dataduring operation of the CNC machine 100. Image data refers to all datagathered from a camera or image sensor, including still images, streamsof images, video, audio, metadata such as shutter speed and aperturesettings, settings or data from or pertaining to a flash or otherauxiliary information, graphic overlays of data superimposed upon theimage such as GPS coordinates, in any format, including but not limitedto raw sensor data such as a .DNG file, processed image data such as aJPG file, and data resulting from the analysis of image data processedon the camera unit such as direction and velocity from an optical mousesensor. For example, there can be cameras mounted such that they gatherimage data from (also referred to as ‘view’ or ‘image’) an interiorportion of the CNC machine 100. The viewing can occur when the lid 130is in a closed position or in an open position or independently of theposition of the lid 130. In one implementation, one or more cameras, forexample a camera mounted to the interior surface of the lid 130 orelsewhere within the case or enclosure, can view the interior portionwhen the lid 130 to the CNC machine 100 is a closed position. Inparticular, in some preferred embodiments, the cameras can image thematerial 140 while the CNC machine 100 is closed and, for example, whilemachining the material 140. In some implementations, cameras can bemounted within the interior space and opposite the working area. Inother implementations, there can be a single camera or multiple camerasattached to the lid 130. Cameras can also be capable of motion such astranslation to a plurality of positions, rotation, and/or tilting alongone or more axes. One or more cameras mounted to a translatable support,such as a gantry 210, which can be any mechanical system that can becommanded to move (movement being understood to include rotation) thecamera or a mechanism such as a mirror that can redirect the view of thecamera, to different locations and view different regions of the CNCmachine. The head 160 is a special case of the translatable support,where the head 160 is limited by the track 220 and the translation rail170 that constrain its motion.

Lenses can be chosen for wide angle coverage, for extreme depth of fieldso that both near and far objects may be in focus, or many otherconsiderations. The cameras may be placed to additionally capture theuser so as to document the building process, or placed in a locationwhere the user can move the camera, for example on the underside of thelid 130 where opening the CNC machine 100 causes the camera to point atthe user. Here, for example, the single camera described above can takean image when the lid is not in the closed position. Such an image caninclude an object, such as a user, that is outside the CNC machine 100.Cameras can be mounted on movable locations like the head 160 or lid 130with the intention of using video or multiple still images taken whilethe camera is moving to assemble a larger image, for example scanningthe camera across the material 140 to get an image of the material 140in its totality so that the analysis of image data may span more thanone image.

As shown in FIG. 1, a lid camera 110, or multiple lid cameras, can bemounted to the lid 130. In particular, as shown in FIG. 1, the lidcamera 110 can be mounted to the underside of the lid 130. The lidcamera 110 can be a camera with a wide field of view 112 that can imagea first portion of the material 140. This can include a large fractionof the material 140 and the material bed or even all of the material 140and material bed 150. The lid camera 110 can also image the position ofthe head 160, if the head 160 is within the field of view of the lidcamera 110. Mounting the lid camera 110 on the underside of the lid 130allows for the user to be in view when the lid 130 is open. This can,for example, provide images of the user loading or unloading thematerial 140, or retrieving a finished project. Here, a number ofsub-images, possibly acquired at a number of different locations, can beassembled, potentially along with other data like a source file such asan SVG or digitally rendered text, to provide a final image. When thelid 130 is closed, the lid camera 110 rotates down with the lid 130 andbrings the material 140 into view.

Also as shown in FIG. 1, a head camera 120 can be mounted to the head160. The head camera 120 can have a narrower field of view 122 and takehigher resolution images of a smaller area, of the material 140 and thematerial bed, than the lid camera 110. One use of the head camera 120can be to image the cut made in the material 140. The head camera 120can identify the location of the material 140 more precisely thanpossible with the lid camera 110.

Other locations for cameras can include, for example, on an opticalsystem guiding a laser for laser cutting, on the laser itself, inside ahousing surrounding the head 160, underneath or inside of the materialbed 150, in an air filter or associated ducting, etc. Cameras can alsobe mounted outside the CNC machine 100 to view users or view externalfeatures of the CNC machine 100.

Multiple cameras can also work in concert to provide a view of an objector material 140 from multiple locations, angles, resolutions, etc. Forexample, the lid camera 110 can identify the approximate location of afeature in the CNC machine 100. The CNC machine 100 can then instructthe head 160 to move to that location so that the head camera 120 canimage the feature in more detail.

While the examples herein are primarily drawn to a laser cutter, the useof the cameras for machine vision in this application is not limited toonly that specific type of CNC machine 100. For example, if the CNCmachine 100 were a lathe, the lid camera 110 can be mounted nearby toview the rotating material 140 and the head 160, and the head camera 120located near the cutting tool. Similarly, if the CNC machine 100 were a3D printer, the head camera 120 can be mounted on the head 160 thatdeposits material 140 for forming the desired piece.

An image recognition program can identify conditions in the interiorportion of the CNC machine 100 from the acquired image data. Theconditions that can be identified are described at length below, but caninclude positions and properties of the material 140, the positions ofcomponents of the CNC machine 100, errors in operation, etc. Based inpart on the acquired image data, instructions for the CNC machine 100can be created or updated. The instructions can, for example, act tocounteract or mitigate an undesirable condition identified from theimage data. The instructions can include changing the output of the head160. For example, for a CNC machine 100 that is a laser cutter, thelaser can be instructed to reduce or increase power or turn off. Also,the updated instructions can include different parameters for motionplan calculation, or making changes to an existing motion plan, whichcould change the motion of the head 160 or the gantry 210. For example,if the image indicates that a recent cut was offset from its desiredlocation by a certain amount, for example due to a part moving out ofalignment, the motion plan can be calculated with an equal and oppositeoffset to counteract the problem, for example for a second subsequentoperation or for all future operations. The CNC machine 100 can executethe instructions to create the motion plan or otherwise effect thechanges described above. In some implementations, the movable componentcan be the gantry 210, the head 160, or an identifiable mark on the head160. The movable component, for example the gantry 210, can have a fixedspatial relationship to the movable head. The image data can updatesoftware controlling operation of the CNC machine 100 with a position ofthe movable head and/or the movable component with their position and/orany higher order derivative thereof.

Because the type of image data required can vary, and/or because ofpossible limitations as to the field of view of any individual camera,multiple cameras can be placed throughout the CNC machine 100 to providethe needed image data. Camera choice and placement can be optimized formany use cases. Cameras closer to the material 140 can be used fordetail at the expense of a wide field of view. Multiple cameras may beplaced adjacently so that images produced by the multiple cameras can beanalyzed by the computer to achieve higher resolution or wider coveragejointly than was possible for any image individually. The manipulationand improvement of images can include, for example, stitching of imagesto create a larger image, adding images to increase brightness,differencing images to isolate changes (such as moving objects orchanging lighting), multiplying or dividing images, averaging images,rotating images, scaling images, sharpening images, and so on, in anycombination. Further, the system may record additional data to assist inthe manipulation and improvement of images, such as recordings fromambient light sensors and location of movable components. Specifically,stitching can include taking one or more sub-images from one or morecameras and combining them to form a larger image. Some portions of theimages can overlap as a result of the stitching process. Other imagesmay need to be rotated, trimmed, or otherwise manipulated to provide aconsistent and seamless larger image as a result of the stitching.Lighting artifacts such as glare, reflection, and the like, can bereduced or eliminated by any of the above methods. Also, the imageanalysis program can performing edge detection and noise reduction orelimination on the acquired images. Edge detection can includeperforming contrast comparisons of different parts of the image todetect edges and identify objects or features in the image. Noisereduction can involve averaging or smoothing of one or more images toreduce the contribution of periodic, random, or pseudo-random imagenoise, for example that due to CNC machine 100 operation such asvibrating fans, motors, etc.

FIG. 4A is a diagram illustrating the addition of images, consistentwith some implementations of the current subject matter. Images taken bythe cameras can be added, for example, to increase the brightness of animage. In the example of FIG. 4A, there is a first image 410, a secondimage 412, and a third image 414. First image 410 has horizontal bands(shown in white against a black background in the figure). Thehorizontal bands can conform to a more brightly lit object, though themain point is that there is a difference between the bands and thebackground. Second image 412 has similar horizontal bands, but offset inthe vertical direction relative to those in the first image 410. Whenthe first image 410 and second image 412 are added, their sum is shownin by the third image 414. Here, the two sets of bands interleave tofill in the bright square as shown. This technique can be applied to,for example, acquiring many image frames from the cameras, possibly inlow light conditions, and adding them together to form a brighter image.

FIG. 4B is a diagram illustrating the subtraction of images, consistentwith some implementations of the current subject matter. Imagesubtraction can be useful to, for example, isolate dim laser spot from acomparatively bright image. Here, a first image 420 shows two spots, onerepresentative of a laser spot and the other of an object. To isolatethe laser spot, a second image 422 can be taken with the laser off,leaving only the object. Then, the second image 422 can be subtractedfrom the first image 420 to arrive at the third image 424. The remainingspot in the third image 424 is the laser spot.

FIG. 4C is a diagram illustrating the differencing of images to isolatea simulated internal lighting effect, consistent with someimplementations of the current subject matter. There can be an object inthe CNC machine 100, represented as a circle in first image 430. Thiscould represent, for example an object on the material bed 150 of theCNC machine 100. If, for example, half of the material bed 150 of theCNC machine 100 was illumined by outside lighting, such as a sunbeam,the second image 420 might appear as shown, with the illuminated sidebrighter than the side without the illumination. It can sometimes beadvantageous to use internal lighting during operation, for example toilluminate a watermark, aid in image diagnostics, or simply to bettershow a user what is happening in the CNC machine. Even if none of thesereasons apply, however, internal lighting allows reduction orelimination of the external lighting (in this case the sunbeam) via thismethod. This internal lighting is represented in the third image 434 byadding a brightness layer to the entire second image 432. To isolate theeffect of the internal lighting, the second image 432 can be subtractedfrom 434 to result in fourth image 436. Here, fourth image 436 shows thearea, and the object, as it would appear under only internal lighting.This differencing can allow image analysis to be performed as if onlythe controlled internal lighting were present, even in the presence ofexternal lighting contaminants.

Machine vision processing of images can occur at, for example, the CNCmachine 100, on a locally connected computer, or on a remote serverconnected via the internet. In some implementations, image processingcapability can be performed by the CNC machine 100, but with limitedspeed. One example of this can be where the onboard processor is slowand can run only simple algorithms in real-time, but which can run morecomplex analysis given more time. In such a case, the CNC machine 100could pause for the analysis to be complete, or alternatively, executethe data on a faster connected computing system. A specific example canbe where sophisticated recognition is performed remotely, for example,by a server on the internet. In these cases, limited image processingcan be done locally, with more detailed image processing and analysisbeing done remotely. For example, the camera can use a simple algorithm,run on a processor in the CNC machine 100, to determine when the lid 130is closed. Once the CNC machine 100 detects that the lid 130 is closed,the processor on the CNC machine 100 can send images to a remote serverfor more detailed processing, for example, to identify the location ofthe material 140 that was inserted. The system can also devote dedicatedresources to analyzing the images locally, pause other actions, ordiverting computing resources away from other activities.

In another implementation, the head 160 can be tracked by onboard,real-time analysis. For example, tracking the position of the head 160,a task normally performed by optical encoders or other specializedhardware, can be done with high resolution, low resolution, or acombination of both high and low resolution images taken by the cameras.As high-resolution images are captured, they can be transformed intolower resolution images that are smaller in memory size by resizing orcropping. If the images include video or a sequence of still images,some may be eliminated or cropped. A data processor can analyze thesmaller images repeatedly, several times a second for example, to detectany gross misalignment. If a misalignment is detected, the dataprocessor can halt all operation of the CNC machine 100 while moredetailed processing more precisely locates exactly the head 160 usinghigher resolution images. Upon location of the head 160, the head 160can be adjusted to recover the correction location. Alternatively,images can be uploaded to a server where further processing can beperformed. The location can be determined by, for example, looking atthe head 160 with the lid camera, by looking at what the head camera 120is currently imaging, etc. For example, the head 160 could be instructedto move to a registration mark. Then the head camera 120 can then imagethe registration mark to detect any minute misalignment.

Basic Camera Functionality

The cameras can be, for example, a single wide-angle camera, multiplecameras, a moving camera where the images are digitally combined, etc.The cameras used to image a large region of the interior of the CNCmachine 100 can be distinct from other cameras that image a morelocalized area. The head camera 160 can be one example of a camera that,in some implementations, images a smaller area than the wide-anglecameras.

There are other camera configurations that can be used for differentpurposes. A camera (or cameras) with broad field of view can cover thewhole of the machine interior, or a predefined significant portionthereof. For example, the image data acquired from one or more of thecameras can include most (meaning over 50%) of the working area. Inother embodiments, at least 60%, 70%, 80%, 90%, or 100% of the workingarea can be included in the image data. The above amounts do not takeinto account obstruction by the material 140 or any other interveningobjects. For example, if a camera is capable of viewing 90% of theworking area without material 140, and a piece of material 140 is placedin the working area, partially obscuring it, the camera is stillconsidered to be providing image data that includes 90% of the workingarea. In some implementations, the image data can be acquired when theinterlock is not preventing the emission of electromagnetic energy.

In other implementations, a camera mounted outside the machine can seeusers and/or material 140 entering or exiting the CNC machine 100,record the use of the CNC machine 100 for sharing or analysis, or detectsafety problems such as an uncontrolled fire. Other cameras can providea more precise look with limited field of view. Optical sensors likethose used on optical mice can provide very low resolution and fewcolors, or greyscale, over a very small area with very high pixeldensity, then quickly process the information to detect material 140moving relative to the optical sensor. The lower resolution and colordepth, plus specialized computing power, allow very quick and preciseoperation. Conversely, if the head is static and the material is moved,for example if the user bumps it, this approach can see the movement ofthe material and characterize it very precisely so that additionaloperations on the material continue where the previous operations leftoff, for example resuming a cut that was interrupted before the materialwas moved.

Video cameras can detect changes over time, for example comparing framesto determine the rate at which the camera is moving. Still cameras canbe used to capture higher resolution images that can provide greaterdetail. Yet another type of optical scanning can be to implement alinear optical sensor, such as a flatbed scanner, on an existing rail,like the sliding gantry 210 in a laser system, and then scan it over thematerial 140, assembling an image as it scans.

To isolate the light from the laser, the laser may be turned off and onagain, and the difference between the two measurements indicates thelight scattered from the laser while removing the effect ofenvironmental light. The cameras can have fixed or adjustablesensitivity, allowing them to operate in dim or bright conditions. Therecan be any combination of cameras that are sensitive to differentwavelengths. Some cameras, for example, can be sensitive to wavelengthscorresponding to a cutting laser, a range-finding laser, a scanninglaser, etc. Other cameras can be sensitive to wavelengths thatspecifically fall outside the wavelength of one or more lasers used inthe CNC machine 100. The cameras can be sensitive to visible light only,or can have extended sensitivity into infrared or ultraviolet, forexample to view invisible barcodes marked on the surface, discriminatebetween otherwise identical materials based on IR reflectivity, or viewinvisible (e.g. infrared) laser beams directly. The cameras can even bea single photodiode that measures e.g. the flash of the laser strikingthe material 140, or which reacts to light emissions that appear tocorrelate with an uncontrolled fire. The cameras can be used to image,for example, a beam spot on a mirror, light escaping an intended beampath, etc. The cameras can also detect scattered light, for example if auser is attempting to cut a reflective material. Other types of camerascan be implemented, for example, instead of detecting light of the samewavelength of the laser, instead detecting a secondary effect, such asinfrared radiation (with a thermographic camera) or x-rays given off bycontact between the laser and another material.

The cameras may be coordinated with lighting sources in the CNC machine100. The lighting sources can be positioned anywhere in the CNC machine100, for example, on the interior surface of the lid 130, the walls, thefloor, the gantry 210, etc. One example of coordination between thelighting sources and the cameras can be to adjust internal LEDillumination while acquiring images of the interior portion with thecameras. For example, if the camera is only capable of capturing imagesin black and white, the internal LEDs can illuminate sequentially inred, green, and blue, capturing three separate images. The resultingimages can then be combined to create a full color RGB image. Ifexternal illumination is causing problems with shadows or externallighting effects, the internal lighting can be turned off while apicture is taken, then turned on while a second picture is taken. Bysubtracting the two on a pixel-by-pixel basis, ambient light can becancelled out so that it can be determined what the image looks likewhen illuminated only by internal lights. If lighting is movable, forexample on the translation arm of the CNC machine 100, it can be movedaround while multiple pictures are taken, then combined, to achieve animage with more even lighting. The brightness of the internal lights canalso be varied like the flash in a traditional camera to assist withillumination. The lighting can be moved to a location where it betterilluminates an area of interest, for example so it shines straight downa slot formed by a cut, so a camera can see the bottom of the cut. Ifthe internal lighting is interfering, it can be turned off while thecamera takes an image. Optionally, the lighting can be turned off forsuch a brief period that the viewer does not notice (e.g. for less thana second, less than 1/60^(th) of a second, or less than 1/120^(th) of asecond). Conversely, the internal lighting may be momentarily brightenedlike a camera flash to capture a picture. Specialized lights may be usedand/or engaged only when needed; for example, an invisible butUV-fluorescent ink might be present on the material. When scanning for abarcode, UV illumination might be briefly flashed while a picture iscaptured so that any ink present would be illuminated. The sametechnique of altering the lighting conditions can be performed bytoggling the range-finding and/or cutting lasers as well, to isolatetheir signature and/or effects when imaging. If the object (or camera)moves between acquisitions, then the images can be cropped, translated,expanded, rotated, and so on, to obtain images that share commonfeatures in order to allow subtraction. This differencing technique ispreferably done with automatic adjustments in the cameras are overriddenor disabled. For example, disabling autofocus, flashes, etc. Featuresthat can ideally be held constant between images can include, forexample, aperture, shutter speed, white balance, etc. In this way, thechanges in the two images are due only to differences from the lightingand not due to adjustment in the optical system.

Multiple cameras, or a single camera moved to different locations in theCNC machine 100, can provide images from different angles to generate 3Drepresentations of the surface of the material 140 or an object. The 3Drepresentations can be used for generating 3D models, for measuring thedepth that an engraving or laser operation produced, or providingfeedback to the CNC machine 100 or a user during the manufacturingprocess. It can also be used for scanning, to build a model of thematerial 140 for replication.

The camera can be used to record photos and video that the user can useto share their progress. Automatic “making of” sequences can be createdthat stitch together various still and video images along withadditional sound and imagery, for example the digital rendering of thesource file or the user's picture from a social network. Knowledge ofthe motion plan, or even the control of the cameras via the motion plandirectly, can enable a variety of optimizations. In one example, given amachine with two cameras, one of which is mounted in the head and one ofwhich is mounted in the lid, the final video can be created with footagefrom the head camera at any time that the gantry is directed to alocation that is known to obscure the lid camera. In another example,the cameras can be instructed to reduce their aperture size, reducingthe amount of light let in, when the machine's internal lights areactivated. In another example, if the machine is a laser cutter/engraverand activating the laser causes a camera located in the head to becomeoverloaded and useless, footage from that camera may be discarded whenit is unavailable. In another example, elements of the motion plan maybe coordinated with the camera recording for optimal visual or audioeffect, for example fading up the interior lights before the cut ordriving the motors in a coordinated fashion to sweep the head cameraacross the material for a final view of the work result. In anotherexample, sensor data collected by the system might be used to selectcamera images; for example, a still photo of the user might be capturedfrom a camera mounted in the lid when an accelerometer, gyroscope, orother sensor in the lid detects that the lid has been opened and it hasreached the optimal angle. In another example, recording of video mightcease if an error condition is detected, such as the lid being openedunexpectedly during a machining operation. The video can beautomatically edited using information like the total duration of thecut file to eliminate or speed up monotonous events; for example, if thelaser must make 400 holes, then that section of the cut plan could beshown at high speed. Traditionally, these decisions must all be made byreviewing the final footage, with little or no a priori knowledge ofwhat they contain. Pre-selecting the footage (and even coordinating itscapture) can allow higher quality video and much less time spent editingit. Video and images from the production process can be automaticallystitched together in a variety of fashions, including stop motion withimages, interleaving video with stills, and combining video andphotography with computer-generated imagery, e.g. a 3D or 2D model ofthe item being rendered. Video can also be enhanced with media fromother sources, such as pictures taken with the user's camera of thefinal product.

Additional features that can be included individually, or in anycombination, are described in the sections below.

Recalling Head to Home Position Prior to Image Acquisition

Particularly in the case of cameras with a wide-field of view, there canbe obstructions in the images acquired with these cameras. For example,referring to FIG. 1, the lid camera 110 field of view encompasses thehead 160. Thus, the head 160 is blocking some portion of the material140 from being imaged. If it is determined that the head 160, or anyother component, is blocking the camera from viewing a desired area, aninstruction can be sent to the CNC machine 100 to move the obstructingelement to a location in the interior portion such that it does notobstruct the camera imaging the material 140. For example, the head 160can be moved to a home position towards the rear, or one of the sides,or the front, of the machine. Once the head 160 is not obstructing theview of the material 140, or has arrived at the predefined location, thecamera can acquire additional images. Subsequently, an instruction canbe generated for the head 160 to move to another location, or to resumeexecution of the motion plan. In another example, it may be impossibleto capture the entire interior without obstruction, so the head or otherobstruction can be instructed to move to multiple different locationsand a picture taken at each point. The pictures can then be subsequentlycombined to form an accurate view of the entire bed. In another example,the camera can be instructed to image elements of the CNC machine 100,for example the head 160. Consequently, the CNC machine 100 can receiveinstructions to move the head, or other portion of the CNC machine 100,into the view of the camera.

Trigger Image Acquisition Based on Sensor Data

As described above, in addition to the cameras in the CNC machine 100,there can be other sensors integrated into or otherwise associated withthe CNC machine 100. Such sensors can include any of accelerometers(e.g., sensors for determining a position and higher order derivativesthereof such as velocity, acceleration, etc.), microphones, thermalsensors, optical sensors, etc. The sensors can provide sensor data thatcan be interpreted by a sensor data analysis program. The interpretationof the sensor data can correspond to a condition in the CNC machine 100,for example, a vibration, a temperature, a sound, presence ofelectromagnetic radiation, etc. In some implementations, images can beacquired in response to sensor data (e.g. signals from one or moresensors) and the subsequent interpretation of the sensor data. In someexamples, a sensor providing such a signal is not a user-actuable cameracontrol (e.g. not a hardware or graphical user interface button or othercontrol by which a user can manually trigger a camera to capture animage). In one example, an event, closing (e.g. the openable barrier) ofthe CNC machine 100 can trigger one or more sensors that indicate thatthe CNC machine 100 contents may have changed and an image should becaptured, obviating the need for the user to manually trigger an imagecapture event to inspect the new contents. In another example, thesensor can detect that the lid 130 is open. This event can trigger thecapture of an image of the user loading or unloading material. Inanother example, if an anomalous sound is detected by a microphone, acamera can be sent a command to acquire an image of part of the CNCmachine 100. The image can then be analyzed by an image analysis programor by a user to determine the cause of the anomalous sound or othersensor input and/or to identify other occurrences, factors, etc. thatcorrelate with the anomalous sound or other sensor input. In anotherexample, if an accelerometer in the head detects an anomalous reading,the camera can image the head and inspect it for a collision; however,if the same anomaly is detected in an accelerometer in the body, thenthe system can determine that the entire unit was impacted from theoutside and instead inspect the material to see if the impact shiftedits position. In general, an event that triggers capturing of an imageby a camera of a CNC machine 100 can include any of moving the openablebarrier from the closed position, a moving of the openable barrier tothe closed position, a motion of the laser computer numericallycontrolled machine (e.g. of the housing), a fire inside the interiorspace, an anomalous condition of a component of the laser computernumerically controlled machine, a temperature inside the interior spaceexceeding a threshold, electromagnetic radiation present in anunexpected place or at an unexpected time, etc.

3-D Scanning

FIG. 5 is a diagram illustrating the lid camera 110 imaging athree-dimensional object 510 in the CNC machine 100, consistent withsome implementations of the current subject matter. FIG. 6 is a diagramillustrating expressing the object 510 imaged in FIG. 3 as a collectionof 2-D patterns 610 overlaid on the material 140 in the CNC machine 100,consistent with some implementations of the current subject matter. Anyof the optical features described herein can be utilized by the CNCmachine 100 to perform a 3-D scan of the material 140. Such a scan,which can be implemented according to its own motion plan, can beutilized irrespective of the creation of the motion plan forfabrication. Once complete, the 3-D scan can be transmitted to a cloudserver or other computing system in order to provide a user with acomputer rendering of the material 140. The 3-D scan of the material 140can also be used in conjunction with creating a preview of what thematerial 140 will look like after it has been engraved and/or cut. The3-D scan can also provide an estimate of the amount of scrap material140 that will be left over after the cut. The 3-D scan can also be takenat multiple times during the cutting process in order to provide adigital evolution of the material 140 as the motion plan is executed.The 3-D scan can even be used for separate purposes, like sharing theresults of a cutting operation on a social network. It can also be usedto scan the object 510 (e.g. a metal figurine) for replication onanother material 140. In particular, images taken by any of the camerasin the CNC machine 100 can be integrated to perform a 3-D rendering.This can be done in conjunction with user input, for example, specifyingthat an image (from a particular camera) is a ‘top’, ‘side’, etc. Also,the use of distance-finding techniques can be used to determine theposition of a surface of the material 140. For example, one or morelasers can be used to determine the extents of the material 140.

Material Outline

The cameras can also be used to determine the size and outline ofmaterial 140 in the CNC machine 100. This allows the user to placematerial 140 at arbitrary locations within the CNC machine 100 and touse material 140 with unusual shapes, for example scrap material 140with holes already cut in it.

Images from the cameras can be compared against images of the devicewithout any material 140. Differencing these images can provide anindication of the material 140, such as an outline or a 3-D shape. Inanother implementation, the bottom of the CNC machine 100 and/or thematerial bed 150 can be designed to appear in a particular manner tofacilitate digital removal from an image. For example, the bottom of theCNC machine 100 could be green and the green in the image can bedigitally removed to identify the material 140. Alternately, a “flash”could be used by onboard LEDs to illuminate with a color that would notreflect from the material 140. In another example, the material 140 canbe recognized by its appearance or by the presence of distinguishingmarkings, such as UV barcodes repeated across its surface, to identifythe material 140. In another example the edges of the material 140 canbe detected as continuous closed shapes, even though the center of thematerial 140 might be invisible (in the case of clear acrylic).

Once the material outline has been captured, the material 140 outlinecan be displayed to the user. The material outline can be used as aninput to automated layout algorithms that attempt to place all partswithin the material 140 confines. The material 140 outline can be usedas a set of constraints in a virtual simulation that would allow theuser to drag around parts that would collide with the edges of thematerial 140, so the user could experiment with positioning of partswithout dragging them off the material 140.

Material Preview

FIG. 7 is a diagram illustrating a collection of 2-D patterns 610previewed as a three dimensional object 510, consistent with someimplementations of the current subject matter. The cameras can capturethe appearance of the material 140 in the CNC machine 100 beforemachining. For example, the system can display to the user what thefinal product will look like, rendered as a 3-D object 510. The imagesof the material 140 can serve as a texture map, which can then also berendered onto the 3-D object 510. This means the user can accurately seewhat the final product will look like with the material 140 currently inthe CNC machine 100. Further, if there are defects in the material 140,the user can see where they will appear on the 3-D object 510. If, insoftware, the user repositions the location of the cuts on the material140, the result of the material 140 preview can change to reflect therepositioned cut locations. Among other possible benefits, this featurecan allow the user to optimize the patterns to have poorer quality areasof the material 140 hidden from view, such as on an interior surface ofthe assembled product, or outside of the patterns entirely. It alsoallows the user to preview their creation using different materials, tohelp in material selection.

The user can also indicate the position of the cuts across multiplematerials 140 present on the material bed 150. For example, the user canplace a piece of maple and a piece of walnut plywood on the support,then use the image of the material 140 on a screen to arrange thelocation of the cuts such that some pieces are made out of maple andsome are made out of plywood. In another manner, a user can select someshapes in the pattern to be cut from each type of material 140 dependingon the appearance or physical properties desired.

Different power levels for the output of the head 160 and head speedscan result in different appearances of the material 140 duringprocessing. For example, the head 160 moving at different speeds cancause a burn pattern left behind by a laser to vary, the roughness of acut made by a milling bit to vary, etc. The user can preview what thematerial 140 will look like after processing by using images capturedfrom, for example, a previous calibration step. The appearance of a typeof wood marked with 20% of maximum power during calibration, forexample, can be used to predict what an engraving at 20% power will looklike. The predicted appearance can be shown on a graphical display tothe user to aid in project design or in the selection of settings touse.

The cameras can also capture the appearance of the material 140 afterbeing cut, engraved, turned, printed upon, etc. These captured images,accessed either from an image library or acquired from test cuts on theactual material 140, can provide an accurate image of the response ofthe material 140 to machining using particular output parameters. Forexample, test cuts at a given power, head 160 speed, bit rotation, orthe like, can be performed in a scrap area of the material 140 toprovide examples of how the material 140 will appear if cut with thosesame settings. Similarly, the image of the material 140 after being cutmay be used to assess the material's new position following someinteraction with the user. For example, a large design whose size isroughly twice that of the material bed 150 can be completed in the formof two sequential cuts with a pause between them in which [a] the useror some material translating mechanism of or associated with the CNCmachine repositions the material to expose further uncut space and [b]the camera determines from what point the cut was left off.

If the material 140 is recognized from a library, image analysis, or aprevious usage, pre-calculated or stored settings can be used to providea desired result. The identification of the material 140 from a librarycan be accomplished in several ways.

First, barcodes or other markings can be used to identify the type ofmaterial 140. These can be visible or can be invisible to the naked eyeand revealed only with an infrared camera and illumination, or underultraviolet light provided by appropriate lights e.g. UV LEDs. They canalso be printed in standard visible ink. Text can be printed on thematerial and recognized with optical character recognition software. Thecamera may also detect incidental markings, such as the brand ofmaterial 140 on a protective sheet.

Second, the cameras can use image recognition to identify the material140. For example, the grain structures of maple, cherry, and walnut areall distinctive. Distinctive colors and patterns in the material 140 canbe imaged and compared to known material 140 examples stored in a localmemory of the CNC machine 100 or stored on a remote computer.

Using Marks and Drawings to Indicate Cuts

Scanning by the cameras can also be used for copying the pattern of anexisting 2D object. In one example, the user can make a marking on apiece of material 140 using a black pen. They can then place thematerial 140 in the unit. The camera can scan the image and isolate theregion with the black pen, using the image to create a source file. Thesystem can then generate a machine file and a motion plan, instructingthe machine to move into position, move the head across the indicatedregion along a calculated path, activate the engraving function,deactivate the function, and finish. The result would be that thematerial 140 is engraved in the same location and with the same markingthat was applied with ink. Different colors of ink can be used toindicate different operations, for example a red line might be used toindicate cutting while a brown line indicated a light engraving.Functions can be specified in software between the scanning step and thecreation of the machine file, for example the user might be asked if theblack marks should be cut or scanned. Other indicators than ink might beused, for example the user can cut a paper snowflake and use the machinevision system to scan its perimeter and generate a source file from theimage of the perimeter. In all these examples, the source file can besaved and modified, so the scanned image could be moved, resized,repeated, or preserved for later.

In another implementation, the cameras can detect a pattern on thematerial 140 that corresponds to a design stored in memory, and then theCNC machine 100 can machine the stored design onto the material 140.Note that this is different from alignment marks, which can be used whenthe motion planning software is told where the alignment marks are andwhat the corresponding design is. In this case, the cameras can imagethe material 140 and the alignment marks and determine what the designis from the images. In another example, the cameras can identify a pieceof scrap left over from a previous operation by imaging the cut markspresent as a result of the previous operation, or created intentionallyon the scrap as alignment marks anticipating that the scrap could beused with further processing.

In one implementation, material 140 can be inserted into the CNC machine100 that has a certain pattern, for example, a red square circumscribinga filled in black circle. The material (and the pattern) can be imagedby the cameras. A particular operation can be selected based on theimage, for example, red lines can be converted into vector cut paths andblack areas can be converted into raster engravings. A motion plan canbe generated based on the selected operations, for example, cut out thesquare and engrave the circle. The CNC machine 100 can then execute themotion plan to perform, for example, the cutting and the engraving.

Different color marks can indicate different cutting operations—forexample, a red line might indicate cut through, while a black filled inarea might indicate to etch. A sheet of paper, or other suitableoverlay, containing a pattern or picture can be fastened to a piece ofmaterial 140, then that pattern or picture can be engraved directly onthe material 140, through the overlay. This form of design can beapplied directly to the target material 140 with the overlay presumablydestroyed by the machining operation. Alternately, the material can beremoved before the operation commences. In either case, the pattern canbe saved for later, modified and/or repeated. The type of output fromthe CNC machine 100 can vary with the color, line thickness, line type,etc. As one example, a blue line could indicate to etch at 40% power,and a green line could indicate to etch at 60% power.

A user can also put a drawing in the CNC machine 100 separately, allowthe camera(s) to scan the drawing, and then insert a separate piece ofmaterial 140 to be cut or engraved. The first pass of a scanning cameracan scan the image while the second pass, with the head 160, can cut thematerial 140.

The system can use a screen, projector, or other visual feedback unit togenerate virtual overlays of programmed cut lines on images or video ofthe actual material 140. Also, images gathered previously, for example,during a calibration pass where test cuts are made, can allow thepreview of the cuts to appear realistically. Also, images gatheredpreviously, for example, during a calibration pass where test cuts aremade, can allow the preview of the cuts to appear realistically. Forexample, the actual material 140 texture and the typical “V” shape ofthe cut or singing at the cut edges can be displayed when previewing theproduct. The user can also opt to arrange pieces between multiplematerials that may be present or rearrange them to take advantage ofmaterial properties, for example aligning pieces with the grain of thewood.

Similarly, the user can insert both the drawing and the material 140 tobe cut at the same time but in different locations on the machine bed,and indicate that one is the source and the other is the destination. Inthis example, the user ‘copies’ the image from one piece to the next.The user can optionally resize or otherwise modify the drawing insoftware before machining. For example, the user can specify that thedestination is to be magnified, rotated, and/or translated, relative tothe source. In the example of a cut into transparent material, such asglass or clear acrylic, the drawing may also be placed visibly on theunderside of the material, thus minimizing these interactions.

Detecting Materials and Objects in the CNC Machine

Many CNC machines, particularly mills, rely on having a known materialin place before beginning. If the wrong size of raw material isinserted, for example if the material is too tall, the head may collidewith it. In another example, there may be unaccounted-for material suchas clamps in the workspace. It is common for there to be collisionsbetween the head and such items, resulting in damage.

Multiple cameras, or a moving camera, can be used to determine what theactual configuration of the workspace is. This can be used to detectcollisions in a number of ways. For example, the software creating themotion plan can specify in advance what materials it expects to bepresent and at what locations. This can involve characterizing, from theacquired image data, coordinates corresponding to a surface of thematerial. These coordinates can be compared to coordinates thatrepresent where the material is supposed to be. The comparison can bebased on the motion plan, images, user input, etc. If the presentcoordinates of the material are not in agreement with the expectedcoordinates, this can be interpreted as an error state. The CNC machine100 can then take an action in response to the detection of the errorstate. For example, processing could halt, an alarm can activate, a usercan be determined, or the motion plan can be updated based on the newmaterial coordinates.

The software can model the machine moving around all the materialspresent. If the machine will intersect the material at a speed that isunsafe, or move the spinning bit through too much material, it is alsoan error state.

The software creating the motion plan can specify what motions areintended to intersect solid material and which ones are not. Thesoftware may run a simulation based on the motion plan plus the observedmaterials in the workspace to see if intersections occur outside of theplanned areas.

Characterized and Calibrated Materials

Images acquired by the cameras, or otherwise supplied to or from the CNCmachine 100, can be analyzed to generate or modify instructions for theoperation of the CNC machine 100. Images can be used to identify, forexample, a material or product placed in the CNC machine 100. Theidentification of the material 140 in the CNC machine 100 can beassociated or based on with known properties of the material or product.For example, the identification can made by the CNC machine 100 based onwood grain, color, texture, etc. In another example, identification maybe made based on textual or other visual analysis of markings present onprotective coatings of some materials. One example of such a protectivecoating can be a plastic that has a paper layer stuck to the surface ofthe plastic. In addition to protecting the plastic from being scratchedduring transport or handling, the paper layer can include images, text,barcodes, or the like, which provide readable information intended forhumans or for machines other than the CNC machine, for example automatedinventory management. In another example, identification can be based onmarkings designed for the purpose; text, images, barcodes, watermarks,or an embedded or attached device like a printed tag or an embeddedmicrochip that are intended for the CNC machine to read.

In some implementations, the material can be identified as a“characterized material.” A characterized material is a material thatcan have significant variations, but the CNC machine is able to adaptthe motion plan to handle any observed variations in results duringmachining. As one example, there can be natural walnut that hassignificant variation, and the CNC machine can have for settings thathandle its ‘worst case’ behavior and/or iteratively process thematerial, inspecting after each pass to ensure that the material issufficiently cut, engraved, etc.

In other implementations, the material can be identified as a being acalibrated material. Calibrated materials, as described herein, canrefer to materials that have a well-understood and consistentcomposition and/or for which the effects of laser cutting or the likeare one or more of well characterized, spatially uniform, etc. Thesecalibrated materials, as described herein, are materials that aresufficiently well-understood to allow calibration of other parts of theCNC machine, such as the laser, cameras, etc. For example, specificmaterials can be provided that are homogenous, i.e. are substantiallyfree of defects such as knots, cavities, density variations, etc. Othermaterials can have consistent and well-known optical properties. Anotherexample can be alloys that have a consistent composition throughout.Material calibration data associated with the physical properties ofdifferent materials can be accessed by the CNC machine 100 or a remotecomputing system. A library or database containing of materialcalibration data can be accessed during operation of the CNC machine 100or when generating or updating a motion plan. Also, the detailedcalibration information may be encoded on the material itself as text,an image, a barcode, an attached device, an embedded microchip, or bysome other means. Precise cuts can be executed by the CNC machine 100 bycombining the known output of the cutting tool, for example the laser,with the material calibration data. During the cut, or after the cut iscompleted, the cut can be imaged and compared with expected resultsgiven the CNC operating parameters and the type of calibrated material.A detected discrepancy, for example one that is outside of a tolerancethat can be predefined or configurable, can result in the system sendingan alert to the user that either the CNC machine 100 operation or thematerial is somehow different than expected.

For example, a laser cutter/engraver might be capable of engraving acalibrated material of 1″ acrylic to a depth of 0.5″ at 100% power and aspeed of 2 inches per second. If it attempted such an engraving anddetected that the resulting depth was only 0.4″, it would conclude thatthere was a problem, for example that the laser was aging and its outputwas reduced, and take appropriate actions such as notifying theoperator.

Rather than having the material well-characterized, the material typecan sometimes be unknown and the CNC machine can determine what thematerial is or how best to machine it. In some implementations, the usercan determine ideal settings, laser power and head speed for example, bycutting and/or engraving a predetermined test pattern into a piece ofunknown material. The test cuts into the unknown material can scanthrough a variety of possible settings. The settings can be selected bya user or accessed from a computer memory. The cameras can then takeimages of the material and the user can select visually which areas ofthe test pattern resulted in their preferred results. The images can beused to determine what settings were used for that part of the testmotion plan allowing the user's custom material settings to be saved forfuture use. In another implementation, the cameras can image the testcuts and automatically determine the best settings based on a comparisonwith stored test cut images.

Watermarks

FIG. 6 is a diagram illustrating the head camera 120 imaging a watermark810 present on material 140 in the CNC machine 100, consistent with someimplementations of the current subject matter. The watermark 810 can beidentified from the acquired image and interpreted to identify thematerial 140 and its properties. The watermark 810 can contain anyamount or type of information about the material 140, the allowed use ofthe material 140, etc. As used herein, the term “watermark” includes anyform of material 140 marking, including those described above withregard to calibrated materials.

In one implementation, the watermark 810 can be imprinted on thematerial 140 or on a cover sheet attached to the material 140. Thewatermark 810 can be visible, or invisible to the naked eye, such as aUV watermark 810. In some implementations, the CNC machine 100 cancontain a light source that illuminates the watermark 810 to be visibleto a camera. In one implementation, the watermark may be a QR code thatcontains data, such as settings or a link to where settings may befound. In another implementation, the mark is repeated on the surface ofthe material, so that even if the material is cut or part of the surfaceis obliterated, the remainder of the material has information sufficientto reconstruct the original data.

In addition to the calibration properties described above, the watermark810 can be used to track the material 140 across different CNC machines.For example, the watermark 810 can be unique to the material 140, and byimaging the watermark 810 and uploading the identity of the CNC machine100 that is operating on the material 140, the material 140 can betracked. Also, if a predefined cut pattern, identified by the watermark140, is to be used with the material 140, the CNC machine 100 can firstcheck for authorization, ownership rights, or the like. If the user doesnot have authorization to use the cut pattern with the calibratedmaterial 140, then the CNC machine 100 can deny operation to the user.The use, or attempted use, of watermarked materials can be logged on anynumber of computing systems. The same watermark 810 may also be used forinventory tracking, store stock management, retail checkout, etc.

The watermark may be the same for any similar piece of material, or itmay be unique to the individual piece of material. The data on thewatermark may contain information necessary to process the material, orsimply enough information that the CNC machine can locate theinformation necessary to process the material, such as a uniqueidentifier that can be looked up in a database. It may have both, withthe material processing information in the watermark as a backup in casea network connection is unavailable to look up more detailed informationonline.

In one implementation, it can be determined that, based on the watermark810, that particular settings for the CNC machine 100 should be used toexecute a desired cut. In another implementation, it can also bedetermined that, based on the identified material 140, the settings forthe CNC machine 100 are not correct for the desired cut. Corrections tothe motion plan can be implemented either by user input or automaticallyby the CNC machine 100. The lack of a detected watermark 810 can also beused to provide an alert to the user that the material 140 is not acharacterized or calibrated material. The watermark 810 can also be usedto identify different regions of the material 140 that must be treateddifferently—for example, the calibrated or characterized material canhave two or more different regions, a more dense area and a less densearea, requiring different power settings for each one.

In general, the watermark 810 can contain data about the material 140that can be accessed by a user. For example, the watermark 810 can beassociated with a serial number, material 140 name, power settings (forany CNC machine 100) needed for a desired cut, proprietary settings fora particular CNC machine 100, a picture of the underlying material 140,a picture of what the material will look like after processing on themachine with certain settings etc. The watermark 810 can also containgeneral information, for example comments about the material 140,instructions for a user, recommendations, warnings, etc. In anotherimplementation, the watermark may not contain this information, butcontain information sufficient to retrieve it, such as a uniqueidentifier to an online database.

Production Recording

Any of the methods described herein can be recorded by a combination ofthe lid camera, head camera, or any other cameras in the CNC machine100. In one implementation, a video data file can be generated bycombining recordings of production process, including, for example adesign phase, manufacturing phase, a completion phase, etc. The designphase can encompass, for example, recordings of the user scanning orproviding the material 140 in the CNC machine 100, development of themotion plan and manipulation of patterns to be engraved or cut, etc. Theproduction phase can include, for example, placing the material 140 inthe CNC machine 100, execution of the motion plan by the CNC machine100, etc. The completion phase can include, for example, any finaltreatments of the finished product, recording of cooling/setting, andretrieval of the finished product by the user. At any phase, therecording can be coordinated with system activity. For example, if thereare pauses in the production process, the recording can also be paused.Also, the recording can end with the lid 130 being opened, or can extenda pre-determined duration beyond that to capture the user retrieving thefinished product. The user may be prompted to perform final steps suchas assembly and then to re-insert the finished product for imaging, 3-Dscanning, or other recording.

At any or all of these phases, the video data files can be transmittedby the CNC machine 100 or other recording computing system to a network,for example, for cloud storage, for live-streaming, to social mediafeeds, as message file attachments, etc.

Material Thickness Determination—General

A variety of methods can be used to determine the thickness of thematerial 140 to be cut or engraved. One method can be to determine theheight of a top surface of the material 140 and compare this height to aknown position of a bottom surface of the material 140. Typically,though not necessarily, the bottom surface of the material 140 coincideswith the top surface of the material bed 150, which can be of a knownheight. The difference between the height of the top surface of thematerial 140 and the height of the bottom surface of the material 140can then be determined to be the thickness of the material 140. Inanother implementation, the process used to determine the thickness ofthe material 140 can be calibrated by measuring a material 140 with aknown thickness. For example, an object with a 1 cm thickness can beplaced on the material bed 150. Data can be acquired by the cameras andthe data can be associated with the known thickness of the object. Inanother implementation, the cameras can determine the height of thesurface the material 140 is resting on. For example, if there are otherpieces of material 140 between the topmost material 140 and the materialbed 150, the cameras can measure the height of the topmost surfacebefore material 140 is inserted or measure the height of the topmostsurface in a location not obscured by the material 140.

In one implementation, the height at different points can be measured,for example in a grid pattern, on the surface of the material 140 inorder to characterize the curvature of the material 140. Once the heightat many points on the material 140 is known (and consequently thesurface curvature), instructions can be generated so that one or moreactuators can follow the curve of the material 140. For example, acutting laser can be kept in focus, a camera can be kept in focus, a 3Dprinter head can maintain a constant separation from the material base,or a CNC milling bit can be kept a constant distance from the material140.

Once the distance between the surface and a lens (or any other referencepoint in the CNC machine 100) is known, this can be incorporated toprecisely control the height of the head 160 (and optics internal to thehead 160) when machining.

Contrast detection, phase detection, or any other distance findingtechniques described herein can also be implemented on other machines,for example, a CNC mill where the distance determines where the head 160is to position a bit. In this way, the motion plan can incorporate, forexample, contrast detection, autofocus, etc. to perform real-timeanalysis of the position of the material 140 and/or the position of thehead 160 relative to the material 140.

Material Holding

While knowing the position of surface of the material 140 is important,and the surface position (or height) can be easiest to measure, thethickness of the material 140 is also important. If the material 140 canbe pressed flat, for example against the material bed 150, then theheight of the top of the material 140 minus the height of the materialbed 150 equals the thickness. For that reason, methods for holding thematerial 140 firmly to the support can be combined with any method formeasuring the thickness of the material 140. This can be helpful insituations where the material 140 may have a natural tendency to flex orbow, or where the material 140 may be lightweight and have air pocketsunderneath.

In one implementation, there can be at least one plunger that can holdthe material 140 firmly against the support. The plunger can beproximate to the point of cutting, or can be at another location orlocations on the material 140. Also, the position of the plunger itselfcan provide a cross check to any optical determination of material 140thickness, if for example, the height of the surface of the plunger isknown relative to the surface of the material bed 150.

In another implementation, the material bed 150 can be a vacuum tablewith a number of apertures extending through the surface to a vacuumsystem. The vacuum system can create a negative pressure through theapertures and underneath the material 140, which is then held downagainst the vacuum table by the pressure difference on either side ofthe material 140.

There can be situations where the material 140 is unable to be pressedagainst the material bed 150, for example, curved metal pieces, stone,etc. If the material 140 is known to be of a constant thickness, thenthe thickness can determined from a measurement at any location on thematerial 140. If the material 140 contacts the reference surface at ormore points, then a determination of the lowest point on the surface ofthe material 140 can be interpreted by the CNC machine 100 and comparedto the height of the material bed 150 in order to determine thethickness of the material 140. In the case where the material 140thickness is measured in multiple locations, but not at the locationwhere the surface is lowest, a map can be created from the pointsmeasured. The slope calculated from existing points may be used toidentify a likely area for a local minimum, which can in turn be sampledfor more accurate measurements.

Material Thickness Determination by Stereoscopy

One method for determining the height or position of surface features ofthe material 140 can be to perform stereoscopic observations of thematerial 140 in order to determine a depth profile of the material 140,using either multiple cameras or multiple images from the same camera(moving between each exposure) to determine distance. In oneimplementation, the stereoscopic measurements can be performed by one ormore lid cameras and/or head cameras. There can also be additionalcameras dedicated for this purpose positioned within the CNC machine100. Here, the multiple images required for producing a stereoscopicimage can be interpreted by an image analysis program in order todetermine, based on the differences between the images taken atdifferent angles, the depth of the features imaged on the material 140.To determine the height of the surface of the material, images arecaptured from two separate cameras, and one or more features on thesurface of the material are isolated and considered. The amount by whichthe observed feature moves between the two camera images indicates itsdistance and thus the height of the material, in the same manner thathuman binocular vision uses to determine distance.

In some implementations, a motion plan can be created that includespositioning the head 160 such that a distinctive feature to be measuredis within the view of a camera located on the head 160. Then, the cameracan acquire an image of the feature. A second motion plan can be created(or a second step in a single motion plan) to move the head 160 by afixed amount. After the head 160 moves, the feature should be withinview of the camera. A second image, containing the feature, can then becaptured by the camera. In each of the images, the feature isidentified. An image analysis program can then measure how much thefeature has moved in each image, relative to the amount of cameramovement. Based on the relative apparent movement, the height of thefeature can be determined. In general, the closer the feature is to thecamera (i.e. height of the feature) the more it will appear to havemoved.

Material Thickness Determination by Interferometry

Another method of acquiring the distance to the surface of the material140 can be to include an imaging laser and an imaging detector toperform interferometry on the surface of the material 140. Here, lightfrom the imaging laser can be used to reflect off the surface of thematerial 140 and then be directed to a detector. Light from the imaginglaser can also be directed to a reference mirror and then also to thedetector. The changing number of interference fringes at the detectorcan be detected and counted in order to determine the distance to thesurface of the material 140. In one implementation, a laser output fromthe head 160, for example that used for cutting, can also be used as theimaging laser. Alternatively, the imaging laser does not have to be alaser, it can be any light source of known wavelength, for example, anatomic lamp, a band-pass filtered light source, etc.

Material Thickness Determination by Contrast Detection

In another implementation, an algorithm that takes multiple images witha camera having a known focal plane when each image is taken can use avariation in focal plane to determine the distance to the surface of thematerial 140 by determining the image with the maximum contrast. In thisimplementation, images of the material 140 can be taken by the headcamera 120, the lid camera 110, or any other camera in the system thathas the ability to adjust its focus, either by changing its position orthe position of a lens. The analysis can involve varying the position ofthe one or more lenses until the image of the material 140 taken by thehead camera 120 has a maximum contrast. When this condition is detected,the focal plane of the camera is the same as the distance from the lensto the surface of the material 140, so the height of the surface of thematerial 140 is known.

In some implementations, the lens can be moved to a first location, forexample the top of its range in the camera or in the head 160. An imagecan then be acquired at that first location. The contrast can bequantified, for example, by taking a Fourier transform of the image andmeasuring the amplitude of the high-frequency components characteristicof a rapid change in the image. Then, the lens can be moved to a secondlocation, for example lower in the cameras range. The contrast can bequantified after each movement, while moving the lens in the directionthat results in an increase in the determined contrast. The lens is infocus when at a location where the contrast is a maximum.

Material Thickness Determination by Phase Detection

In one implementation, phase detection can be used in order to determinedistance from a lens to the material 140. In this implementation, imagestaken of a material 140 are divided into at least two portionscorresponding to light passing through at least two different parts ofthe lens symmetrically arranged to be imaging the same location when thelens is at its focal length from the material 140. The intensity orother image features of each portion can then be compared. The positionof the lens can be adjusted until the portions imaged through each ofthe parts of the lens are substantially identical. When that iscomplete, the focal length of the lens is the distance of the materialfrom the lens.

Material Thickness Determination by Time of Flight

In one implementation, time-of-flight techniques can be used todetermine distance from a source to an object in the CNC machine 100.For example, there can be a light source that emits pulses or otherknown waveforms of light. A detector can detect the light reflected offa surface. By measuring the time between emission and detection andknowing the path between the source and the detector, the distancebetween the source (or detector) and the object can be determined. Asimilar procedure can be performed with a sound source. Thetime-of-flight can be measured by the detector based on rising orfalling edges of a signal, interference patterns, signal ring-down, etc.

Material Thickness Determination by Imaging a Spot Location/Shape

FIG. 9 is a diagram illustrating the determination of material 140thickness by the lid camera 110 imaging a spot on the material 140produced by a distance-finding light source 910, consistent with someimplementations of the current subject matter. In one implementation, awell-collimated light beam from the distance-finding light source 910,for example from a laser diode or LED with a tight beam, can be pointedat the material 140 at an angle. As shown in the left pane of FIG. 9, athicker material 140 (of thickness T1) will intercept the beam sooner,at a distance D1 from the distance-finding light source 910, causing theintersection spot to be visible to the lid camera 110 closer to thedistance-finding light source 610. As shown in the right pane of FIG. 9,thinner material 140 (of thickness T2) will allow the beam to travelfarther, so the beam will appear to intersect the material 140 farther(at distance D2) from the distance-finding light source 910. Thelocation of the bright spot on the material 140 can thus be directlyproportional to the thickness of the material 140. In otherimplementations, the distance-finding light source 910 can be camerasother than the lid camera 110, or any combination of cameras in the CNCmachine 100.

In another implementation, the distance-finding light source 910 canhave a measureable divergence. If the material 140 is thick, then thespot on the surface of the material 140 will appear to be small. If thematerial 140 is thin, then the spot will be larger, as the light willhave diverged more before it intersects the material. The thickness ofthe material 140 can be determined using a trigonometric calculationbased on the known divergence angle and the measured size of the spot onthe surface.

In a related implementation, the focal length of the distance-findingcamera can be made to be as small as possible. If the beam spot is nearto the camera it will be in focus and therefore appear smaller; if it isfar away, it will be blurry and thus larger and dimmer. This techniquemay be combined with the divergence technique to make the increase inspot size even more easily detected.

Material Thickness Determination by Imaging Laser Spot Size

FIG. 10 is a diagram illustrating determination of material thickness byimaging a laser spot size, consistent with some implementations of thecurrent subject matter. To provide precise cuts, the laser should befocused at the surface of the material 140. If the laser is out offocus, the cut can be larger than expected and the cut may have adifferent depth than desired. In one implementation, if a lens 370 inthe head 160 specifies a particular focal point for the laser, then aminimum spot size 1010 can be measured by a camera viewing the laserspot on the surface. Conversely, if the material 140 is not at adistance equal to the focal length of the lens 370, then the spot size1020 will be larger. By measuring the spot size, the lens 370 in thehead 160 can be adjusted until the laser spot size is either at aminimum, or other known size, which corresponds to the surface of thematerial 140 being at the focal length of the lens 370. In someimplementations this adjustment can be done automatically and/orcontinuously in order to provide a constant power density at the surfaceof the material 140. As a result, a consistent cut can be provided evenif the thickness of the material 140 changes. Also, if there is adiscrepancy between the observed spot size and the expected spot size,then either the “known” focal length of the lens 370 is inaccurate orthe determination of the surface height is inaccurate. Indications ofthese inconsistencies can be provided to the user or otherwise logged bythe CNC machine 100. The laser used for this may be the primary cuttinglaser, or a secondary laser (typically lower-power laser at a frequencythat is viewable more readily with a camera, such as a helium-neonlaser). The spot size may be observed directly if the secondary laser isat a frequency that the camera can register, or indirectly by looking atthe size of the discoloration, engraving, or cut produced by thesecondary laser.

In one implementation, the cutting laser can be used to draw a line(shown by the solid horizontal shape in FIG. 10) by moving the head 160across the material 140 while the laser is operating. While the laser ismoving, the focusing lens 370 acquires images as it travels through itsfull range of motion. When the motion is complete, camera images of theline are analyzed and the narrowest portion is determined. The lensposition at the moment the narrowest portion of the line was createdcorresponds to the point where the beam is in focus, and the moment atwhich the distance between the lens 370 and the material equals thefocal length of the lens, allowing both the laser to be focused and thedistance to be determined for other purposes, such as reporting thethickness (measured from the height of the material surface) to theuser.

Direct Inspection of Material Thickness

In another implementation, the material 140 can be imaged by a camera ata low angle relative to the surface of the material. The angle can be,for example, 0 degrees (parallel to the surface), less than 5 degrees,less than 10 degrees, etc. This “edge-on” view allows a directdetermination of the height of the material. Here, an image of thematerial can be acquired. The height or thickness of the material 140 isrelated to the number of pixels of the material in the image. In someimplementations, a distance measurement between the camera and the edgeof the material can first be performed. Based on the distance from thecamera to the edge which is being imaged, a conversion can be performedbetween the height in pixels and the material height.

Cut Inspection

FIG. 11 is a diagram illustrating a scattered light detector 1110determining if a cut extends through the material 140, consistent withsome implementations of the current subject matter. In someimplementations, a laser combined with a photosensor can provideinformation down to a single point at a very precise location, forexample, probing a cutline to see if the material 140 has been cutthrough. In this example, as shown in the left half of FIG. 11, a laser1120, which can be a low-powered laser used only for this purpose,projects a beam 1130 onto a point on the uncut material 140. Aphotodiode 1110 can then detect the scattered light 1140 indicating thatthe material 140 has not been cut. As shown in the right half of FIG. 8,when the laser 1120 strikes material 140 that has been cut, there is noscattered light to be detected by the photodiode 1110. In this example,the accuracy may be enhanced by selecting a photodiode 1110 that issensitive to the laser wavelength, by filtering only for thatwavelength, or by capturing successive images with the laser 1120 turnedon and off, then subtracting them, so that only the illuminationprovided by the laser 1120 is visible and background light is cancelledout and not analyzed. Such approaches can also result in enhancing theimage by increasing contrast.

In other implementations, cameras can be placed to inspect a cut byimaging the bottom of the material 140 to verify that the material 140has been cut through. The focal plane of a camera viewing through thecut can be varied to scan the vertical edge of the cut for defects. Aparticular focal plane can be specified with focus adjustment and thenblurriness can be used as an indicator of depth. In someimplementations, a camera can be used where the depth-of-field (an areaon the focal plane) is sufficient to image both sides of a cut.

Location Sensing

Traditionally, a variety of systems are used to detect machine position.There can be encoders on the motor, on the shaft, and/or mechanicalswitches that detect when the machine is in extreme positions or to“reset” the software's internal estimation of the head position to acorrect, known state.

These can be replaced by camera systems. An overhead camera can visuallylocate the head 160 or other parts of the system. A camera mounted onthe head 160 can detect when the head 160 has been moved to a specificlocation, for example over a target printed on a home location, withextreme accuracy. In some implementations, the image data from anycamera in the CNC machine, can be processed to generate data including,for example, a position or any higher order derivative thereof, such asa velocity, an acceleration, and so on. The image data can also relateto anomalous conditions, such as fires, smoke, etc. The image data canfurther relate to non-anomalous conditions, such as normal operation andmovement of the CNC machine components. Any of the actions of the CNCmachine 100 described herein can be initiated or terminated based on thegenerated data.

Head Motion Detection

The wide view camera(s) can determine position, velocity, acceleration,and other motion parameters for the head 160. A camera mounted on thehead 160 can do this by observing the apparent motion of the material140 in the images it acquires through a variety of techniques, such ascomparing sequential images or observing motion blur. Special purposecameras can be used that are optimized for this, for example the imagesensor on an optical mouse may be repurposed for the head 160 toprecisely measure its travel. A camera mounted on the lid 130 orelsewhere, with a view of the head 160, can monitor the head 160directly.

Observation Points

Additional features can be included in the CNC machine 100 to assistwith recognition. Generally, marks or other indicators can be added tothe CNC machine 100 that do not require sophisticated image recognitionprograms to process. Rather, changes to the images that include themarks can indicate a particular condition. For example, a distinctivemark or reference point can be defined on the head 160 in order tobetter locate it precisely. By mapping the reference point on the head160, shown in the image data, to a coordinate in the CNC machine 100,the position (or coordinate in the CNC machine 100) of the head 160 canbe determined. A camera need only track 220 the mark and not interpretthe remainder of the image of the head 160. An LED can be placed in theCNC machine 100 and activated in a particular pattern, similar to abeacon; the pattern can be observed in video, or by taking multipleimages synchronized with the flashing of the beacon. A small flag can beplaced in an airflow location so a camera monitoring the flag can easilydetect if the air is moving or not. A chemically reactive area, like apH strip, can be placed within view of the camera so that the machinecan observe color changes to detect different chemicals in the air, forexample if a laser is cutting something that emits harmful fumes. Anexpansion module or other accessory can be added to the CNC machine 100and detected via the camera by virtue of a unique design or barcode.Marks can be printed on any surface in the CNC machine 100 so that thecamera can observe when the moving parts of the system obscure them,allowing for better measurement of position of the moving parts.

Restart after Pause

Processing often has intermediate steps. For example, to protect fromsoot buildup, the user may make a light cut, then mask the material 140with tape, then make another light cut, then lay down more tape, thenmake a final cut. In another example, the user may make a small cut,inspect the cut, then continue.

Normally this is difficult because any disturbance of the material 140means that subsequent processing operations are not aligned with theoperations performed so far. For example, if the user is cutting asquare and removes the material 140 mid-process, the second half of theoperation will not be properly aligned with the first half, even if theoperator is very careful when replacing the material 140.

However, the cameras and image recognition system can be used todetermine exactly where the material 140 was and where it has beenreplaced, correcting for any shift in the material 140 resulting fromthe replacing, thus allowing the operation to continue seamlessly. Afterthe interruption, the material 140 can be re-imaged and the cut patternaligned with the new (if changed) orientation of the material 140. Thiscan be accomplished through registering by any or all of the mechanismsmentioned previously including grain pattern, past cuts, fiducials, andthe corners of the material. The motion plan can be updated and executedbased on the re-aligned cut pattern. This feature can allow, forexample, a user to remove the material 140 from the CNC machine 100,inspect it, and then replace the material 140 without having to performany manual alignment.

In another example, there can be a process where five sheets of material140 are each cut with different patterns, set aside e.g. to be painted,and then cut a second time. The system could recognize each sheet whenit is re-inserted based on its shape, texture, and/or previous cuts, andpick up from where it left off

Image-Based Anomaly Detection

If a problem, error, malfunction, or other off-normal condition shouldexist in the CNC machine 100, they can be detected by a combination ofcameras and sensors. For example, if the machine is bumped and thematerial moves, the cameras can see the material slide and notify thesoftware to compensate for the new location. The cameras can detect aphysical failure, for example a screw falling out, as the original partappears to be missing a screw. The cameras can also detect a buildup ofsmoke, indicating a failure of the exhaust system. This may beaccomplished by imaging smoke particles crossing through a visible laserbeam, detecting light scattered from internal illumination back towardsthe camera from smoke particles (differential imaging will assist withthis), image recognition of actual plumes of smoke, or other methods. Itcan also be observed by the cameras that the head is not moving when itis supposed to, for example if a belt is broken. Many other features andimplementations of detecting anomalies and processing of sensor data aregiven below.

Air Filtering and Cooling System

An air filter, optionally including one or more fans, can be integratedinto the housing of the CNC machine 102 to remove smoke or otherparticulates. In one implementation, the air filter can have apredetermined configuration that connects the air filter to a specificlocation on the housing. The air filter can be located, for example,beneath, but directly connected to, the housing. The CNC machine and theair filter can share a common boundary, for example if the air filterforms at least a portion of the base of the CNC machine. Because theconfiguration is predetermined, there can be a rigid pre-aligned ductbetween an intake on the air filter to and the housing of the CNCmachine 102.

The operation of the air filter can be based on, in part, data about thetype of material cut, operating parameters, sensor data that measuresdebris and/or smoke, etc. This operation can be also integrated into themotion plan. For example, the air filter can speed up or slow downdepending on the motion plan specifying cutting more material andgenerating more smoke. With known materials and a pre-defined motionplan, the amount of smoke can be estimated based on information in adata library. The estimate of smoke can be used to update the motionplan and modify air filter operation to handle the expected smoke orparticulate generation. In this way, the CNC machine 100 communicateswith the air filter to implement updated instructions in the motionplan. The communication can be electrical, infrared, near-fieldcommunication, BLUETOOTH, etc. The air filter operation can be tied toconditions in the CNC machine, for example, light from light emittingdiodes, sounds, turning off when exhaust fans are off, detectingpressure changes, etc. The fans/air filters can optionally beindependent from operation of the CNC machine and instead communicatedirectly with a remote computing system to manage fan/air filteroperation.

The lifetime of the air filter can be continually updated based on thematerials used, cutting operations, measured debris, air flowmeasurements through the air filter, etc. Operation of the fans can alsobe based on a desired noise level, a desired filtration rate, or both.For example, a user can specify that quiet operation is a priority andthe CNC machine 100 can respond to operate the fans at a lower settingdespite the detected presence of particulates. Observations made in themachine e.g. smoke levels observed by cameras can be used to measure theefficacy of the filter, for example detecting when the airflow isreduced and so the filter medium needs to be changed or the fansreplaced.

The cooling system can also be interfaced with the air filtration systemand internal sensors that monitor component temperatures, smoke, and/ordebris. The cooling system can be completely internal to the CNC machine100, for example, a liquid cooling system for a laser that usesheatsinks and fans to dissipate heat, optionally assisted with Peltieror “solid state” devices to drive temperatures below ambient. In theevent that the cooling system is unable to maintain a component within aspecified temperature range, the CNC machine 100 can halt execution ofthe motion plan until the component has cooled. Once the temperature forthe component is within an acceptable range, then the motion plan canresume. A cooling system may also be external, for example a chillerthat cools water used in turn to cool a laser; this cooling system mayinterface directly with the server controlling the CNC machine so thatit can provide critical information on coolant temperature etc. Similarto the operation of the fans/air filters, the cooling system can also beupdated according to conditions in the CNC machine. The cooling systemcan also be interfaced with a remote computing system to enableoperation independent from the CNC machine 100.

Improved Imaging

There are further methods that can be incorporated, in any combination,to improve image recognition when performing any of the techniquesdescribed herein. In one implementation, the material 140 can be firstimaged with a first camera such as the wide-angle lower-precision lidcamera 110 to determine where edges are approximately or to identifyareas that are out of range of the field of view of the lid camera. Oncethe approximate edges are known, or there are areas that need to befurther imaged in order to determine where the edges are, a secondcamera such as the close-up head camera 120 can be moved to image theedges in order to determine the exact location of the outline of thematerial 140. If neither the head camera 120 nor the lid camera 110 candetermine the extents of the material 140, the user can be alerted thatthe material 140 is too big, that the material 140 needs to berepositioned, etc. In an alternate implementation, a single camera mightreorient itself, refocus, take a higher resolution picture, or otherwiseuse the initial image to determine that a more thorough inspection isrequired.

In some implementations, portions of images acquired by the cameras canbe reduced to acquire either smaller or simpler images. For example, ifonly an image of a small area is desired, but the camera has anunnecessarily large field of view compared to the size of the area, animage can be acquired and masked or cropped. The masking can eliminateentirely the unneeded area, reducing the pixel size of the image.Alternatively, the masking can make the unneeded pictures a particularcolor, for example, black, white, green, etc. The masked color can thenbe easily identified in software as an unneeded area and not analyzed.In another implementation, a physical masking technique can be used,such as with a diaphragm.

Other techniques can be implemented to provide sharper images for imageanalysis. First, any laser used for range finding (the cutting laser, ifvisible, or a secondary laser), can be modulated in order for thecameras to acquire images of the material 140 with and withoutcontamination due to exterior light, like room lighting, reflected laserlight, or burn flashes. There can also be internal light sources in theCNC machine 100 that can be modulated to provide image data on internallight conditions. For example, a first image can be acquired with theinternal light source on. Then, a second image can be acquired with theinternal light source off. The second image would correspond to externallighting only. The image analysis program can subtract the second imagefrom the first image in order to determine an interior light profilethat was due only to internal sources inside the CNC machine 100. Theinterior light profile can be used by further processes of the imageanalysis program when analyzing images taken in the determining of, forexample, distances, cutting behavior, material appearance, etc.

Other implementations can include using RGB controllable light sourcesin the CNC machine 100 or for the laser. Examining the material 140under different color lighting can identify which color illuminationprovides the most information. IR illumination and cameras can also beused in cases where it provides better information than visible light.Cameras can be used in sequence if one particular camera is saturatedwith a color. Black-and-white cameras can be combined with imagesilluminated with red, green, and blue light to extract a color image.Filters, such as a bandpass filter, can be placed on cameras so theyonly receive a certain color of illumination—for example, only the 633nm red colored light, dominantly from a laser diode in the head 160,effectively ignoring all other light sources. Multiple images can bestitched together to get a larger image, for example, when performing ahigh-resolution scan with the head 160 of the entire surface of amaterial 140. A linear scanning element can be used to scan a line overthe surface instead of a point, with the scans combined to form acontinuous image. A single point detector can be instead of a cameraelement, for example, a single photodiode.

The resolution of images can be improved beyond the pixel limit of aparticular camera by introducing a random perturbation to the locationof the camera. The camera can be vibrated a small, random amount oralternately moved a predefined distance such that a histogram of thecamera's location can define a probabilistic function. Camera images areacquired during the camera movements. For example, the head camera couldbe moved around in small, known steps, which could then be offset so theimages can be aligned, combined, and averaged. In another example, thelid camera can be moved miniscule amounts by introducing a random ornearly random vibration, for example by running exhaust fans at fullspeed; the results would be averaged. In one implementation, thisfunction can be a Gaussian shape where, a particular imaged feature canbe distributed amongst pixel-sized bins within the Gaussian. Uponacquiring sufficient statistics, the envelope of the Gaussian can bedefined and the centroid identified to an intra-pixel location. Thelocation of the centroid, defined now in terms of the Gaussian profileresulting from the motion of the camera, can be associated with thelocation of a particular feature in the image. While the probabilisticfunction can be a Gaussian, any distribution of known probabilitydensity can be used.

The distance of an object with known extents can also be determined byits apparent size in an image. In some implementations, the size ordimensions of an object in the image data, in pixels, can be compared toanother image of the same object, or portion thereof. The change inpixels, whether a linear measure, an outline, an area, or anycombination thereof, can be incorporated with a mapping or transferfunction that relates the change in pixels to a change in distance. Forexample, an image of 1″ square at a given distance from a camera mightoccupy 100×200 pixels. If the camera moved away from the square, theimage of the square could change to 50×100 pixels. The change in pixelsize is directly related to the change distance, but also a function ofthe angle of the camera, the direction of displacement of the material140, and the optical features of the camera system (e.g. imagedistortions or optical aberrations).

Image Aberration Correction

FIG. 12 is a diagram illustrating correcting aberrations in imagesacquired by a camera with a wide field of view, consistent with someimplementations of the current subject matter. A principal challenge ofwide-angle imaging inside a small working space with the unit closed isthe distortion introduced by the wide-angle lens required. Images fromcameras, particularly those with a wide field of view, can suffer frommultiple types of distortions. In one implementation, an imagecorrection program can be executed to convert distorted image data 1210(which can be considered to be the sum of a perfect image and adistortion) to corrected image data 1260 (which can be either a perfectimage or at least an image with reduced distortion). The distortioncorrection can include processing an image to achieving one or more (oroptionally all of) removing the distortion, enhancing the image byincreasing contrast, and mapping pixels in the image to correspondingphysical locations within the working area, or other areas in the CNCmachine. The distortions can be due to optical components in a camera,such as a wide angle lens, the de-centration of an imaging sensor withinsaid lens, chromatic aberrations, reflections or reflectivity, damage orundesirable coatings on the lens, etc. These distortions can becompounded given external factors related to the orientation of thecamera 110 with respect to the material bed 150 it is observing as aresult of its mount on the lid 130 including the camera's position,rotation and tilt. After making the corrections, the image data can bereplaced with, or used instead of, the corrected image data prior toidentifying conditions in the CNC machine 100 or performing furtherimage analysis.

In another implementation, the conversion can be performed by imagingone or more visible features 1220 shown in the distorted image data. Inthe example shown in FIG. 12, the visible features 1220 can be crossesdistributed with a known distance separation across a surface of anobject. The distorted image 1210, which includes the visible features1220, can be acquired. A partially de-distorted image 1230 can begenerated by applying a barrel de-distortion function to the distortedimage 1210. The partially de-distorted image 1230 can be separated intosmaller images 1240, with each of the smaller images 1240 including onlyone of the visible features 1220. The plurality of smaller images 1240can be sorted (as shown by the numbering in the smaller images 1240),based on coordinates of the visible features 1220, into at least one setof visible features, the set of visible features being approximatelyco-linear. For example, smaller images 1, 2, 3, and 4 can be determinedto be co-linear (in the X direction) and smaller images 1 and 5 can bedetermined to be co-linear (in the Y direction). Mathematicalexpressions for a line 1250 that passes through each of the coordinatescan be calculated for each of the set of visible features and based onthe coordinates of the visible features 1220 in the corresponding set.The line 1250 can be, for example, a polynomial fit to the set ofvisible features 1220, a spline, etc. The distorted image data 1210, atany point in the image data, can be converted to the corrected imagedata 1260 by applying a correction to the distorted image data 1210based on an interpolation of the mathematical expressions to otherpoints in the distorted image data 1210. For example, the interpolationcan be between lines 1250 that extend in two orthogonal directions (i.e.a grid pattern shown in FIG. 12). The linear distance between theinterpolated lines can correspond to less than 5 pixels, less than 3pixels, or a single pixel. Optionally, coarser interpolation can be usedthat extends over more pixels than those mentioned previously.

FIG. 13 is a process flow chart illustrating features of a methodconsistent with implementations of the current subject matter.

At 1310, a computer numerically controlled machine can include a movablehead configured to deliver electromagnetic energy to a part of a workingarea defined by limits within which the movable head can be commanded tocause delivery of the electromagnetic energy. The working area can beinside an interior space of the laser computer numerically controlledmachine. The interior space can be defined by a housing can include anopenable barrier that attenuates transmission of light between theinterior space and an exterior of the computer numerically controlledmachine when the openable barrier is in a closed position. The computernumerically controlled machine can include an interlock that preventsemission of the electromagnetic energy when detecting that the openablebarrier is not in the closed position. The commanding can result in thecomputer numerically controlled machine executing operations of a motionplan for causing movement of the movable head to deliver theelectromagnetic energy to effect a change in a material at leastpartially contained within the interior space.

At 1320, an image can be generated including at least half of theworking area with at least one camera. The generating can occur when theinterlock is not preventing the emission of the electromagnetic energy.

FIG. 14 is a process flow chart illustrating features of a methodconsistent with implementations of the current subject matter.

At 1410, a computer numerically controlled machine can include a movablehead configured to deliver electromagnetic energy to a part of a workingarea defined by limits within which the movable head can be commanded tocause delivery of the electromagnetic energy. The working area can beinside an interior space of the laser computer numerically controlledmachine. The interior space can be defined by a housing can include anopenable barrier that attenuates transmission of light between theinterior space and an exterior of the computer numerically controlledmachine when the openable barrier is in a closed position. Thecommanding can result in the computer numerically controlled machineexecuting operations of a motion plan for causing movement of themovable head to deliver the electromagnetic energy to effect a change ina material at least partially contained within the interior space.

At 1420, emission of the electromagnetic energy can be temporarilyprevented.

At 1430, an image including at least half of the working area with atleast one camera can be generated. The generating can occur when theopenable barrier is in the closed position and during the temporalitypreventing of the emission of the electromagnetic energy.

One or more aspects or features of the subject matter described hereincan be realized in digital electronic circuitry, integrated circuitry,specially designed application specific integrated circuits (ASICs),field programmable gate arrays (FPGAs) computer hardware, firmware,software, and/or combinations thereof. These various aspects or featurescan include implementation in one or more computer programs that areexecutable and/or interpretable on a programmable system including atleast one programmable processor, which can be special or generalpurpose, coupled to receive data and instructions from, and to transmitdata and instructions to, a storage system, at least one input device,and at least one output device. The programmable system or computingsystem may include clients and servers. A client and server aregenerally remote from each other and typically interact through acommunication network. The relationship of client and server arises byvirtue of computer programs running on the respective computers andhaving a client-server relationship to each other.

These computer programs, which can also be referred to programs,software, software applications, applications, components, or code,include machine instructions for a programmable processor, and can beimplemented in a high-level procedural language, an object-orientedprogramming language, a functional programming language, a logicalprogramming language, and/or in assembly/machine language. As usedherein, the term “machine-readable medium” refers to any computerprogram product, apparatus and/or device, such as for example magneticdiscs, optical disks, memory, and Programmable Logic Devices (PLDs),used to provide machine instructions and/or data to a programmableprocessor, including a machine-readable medium that receives machineinstructions as a machine-readable signal. The term “machine-readablesignal” refers to any signal used to provide machine instructions and/ordata to a programmable processor. The machine-readable medium can storesuch machine instructions non-transitorily, such as for example as woulda non-transient solid-state memory or a magnetic hard drive or anyequivalent storage medium. The machine-readable medium can alternativelyor additionally store such machine instructions in a transient manner,such as for example as would a processor cache or other random accessmemory associated with one or more physical processor cores.

To provide for interaction with a user, one or more aspects or featuresof the subject matter described herein can be implemented on a computerhaving a display device, such as for example a cathode ray tube (CRT) ora liquid crystal display (LCD) or a light emitting diode (LED) monitorfor displaying information to the user and a keyboard and a pointingdevice, such as for example a mouse or a trackball, by which the usermay provide input to the computer. Other kinds of devices can be used toprovide for interaction with a user as well. For example, feedbackprovided to the user can be any form of sensory feedback, such as forexample visual feedback, auditory feedback, or tactile feedback; andinput from the user may be received in any form, including, but notlimited to, acoustic, speech, or tactile input. Other possible inputdevices include, but are not limited to, touch screens or othertouch-sensitive devices such as single or multi-point resistive orcapacitive trackpads, voice recognition hardware and software, opticalscanners, optical pointers, digital image capture devices and associatedinterpretation software, and the like.

In the descriptions above and in the claims, phrases such as “at leastone of” or “one or more of” may occur followed by a conjunctive list ofelements or features. The term “and/or” may also occur in a list of twoor more elements or features. Unless otherwise implicitly or explicitlycontradicted by the context in which it used, such a phrase is intendedto mean any of the listed elements or features individually or any ofthe recited elements or features in combination with any of the otherrecited elements or features. For example, the phrases “at least one ofA and B;” “one or more of A and B;” and “A and/or B” are each intendedto mean “A alone, B alone, or A and B together.” A similarinterpretation is also intended for lists including three or more items.For example, the phrases “at least one of A, B, and C;” “one or more ofA, B, and C;” and “A, B, and/or C” are each intended to mean “A alone, Balone, C alone, A and B together, A and C together, B and C together, orA and B and C together.” Use of the term “based on,” above and in theclaims is intended to mean, “based at least in part on,” such that anunrecited feature or element is also permissible.

The subject matter described herein can be embodied in systems,apparatus, methods, and/or articles depending on the desiredconfiguration. The implementations set forth in the foregoingdescription do not represent all implementations consistent with thesubject matter described herein. Instead, they are merely some examplesconsistent with aspects related to the described subject matter.Although a few variations have been described in detail above, othermodifications or additions are possible. In particular, further featuresand/or variations can be provided in addition to those set forth herein.For example, the implementations described above can be directed tovarious combinations and subcombinations of the disclosed featuresand/or combinations and subcombinations of several further featuresdisclosed above. In addition, the logic flows depicted in theaccompanying figures and/or described herein do not necessarily requirethe particular order shown, or sequential order, to achieve desirableresults. Other implementations may be within the scope of the followingclaims.

What is claimed is:
 1. A computer-implemented method comprising:commanding a computer numerically controlled machine comprising amovable head configured to deliver electromagnetic energy to a part of aworking area defined by limits within which the movable head can causedelivery of the electromagnetic energy, the working area being inside aninterior space of the laser computer numerically controlled machine, theinterior space being defined by a housing comprising an openable barrierthat attenuates transmission of light between the interior space and anexterior of the computer numerically controlled machine when theopenable barrier is in a closed position, the computer numericallycontrolled machine comprising an interlock that prevents emission of theelectromagnetic energy when detecting that the openable barrier is notin the closed position, the commanding resulting in the computernumerically controlled machine executing operations of a motion plan forcausing movement of the movable head to deliver the electromagneticenergy to effect a change in a material at least partially containedwithin the interior space; and generating an image including at leasthalf of the working area with at least one camera, the generatingoccurring when the interlock is not preventing the emission of theelectromagnetic energy.
 2. A computer-implemented method as in claim 1,wherein the change in the material comprises at least one of cutting,etching, bleaching, curing, and burning.
 3. A computer-implementedmethod as in any preceding claim, further comprising processing theimage to remove distortion.
 4. A computer-implemented method as in claim3, wherein the distortion comprises a chromatic aberration.
 5. Acomputer-implemented method as in any preceding claim, furthercomprising enhancing the image by increasing contrast.
 6. Acomputer-implemented method as in any preceding claim, furthercomprising mapping pixels in the image to corresponding physicallocations within the working area.
 7. A computer-implemented method asin any preceding claim, wherein the at least one camera is not mountedto the movable head.
 8. A computer-implemented method as in anypreceding claim, wherein the at least one camera is attached to theopenable barrier.
 9. A computer-implemented method as in any precedingclaim, wherein the at least one camera is a single camera that is notmounted to the movable head.
 10. A computer-implemented method as inclaim 9, wherein the single camera is mounted within the interior spaceand opposite the working area.
 11. A computer-implemented method as inany of claims 9 to 10, wherein the single camera is attached to theopenable barrier.
 12. A computer-implemented method as in any of claims9 to 11, further comprising taking an image with the single camera whenthe openable barrier is not in the closed position, the additional imagecomprising an object exterior to the interior space.
 13. Acomputer-implemented method as in claim 12, wherein the object exteriorto the interior space is a user of the computer numerically controlledmachine.
 14. A computer controlled method as in any preceding claim,wherein the at least one camera is capable of motion.
 15. Acomputer-implemented method as in claim 14, wherein the motion comprisesone or more of translation to a plurality of positions, rotation, andtilting along one or more axes.
 16. A computer-implemented method as inany preceding claim, wherein the at least one camera is mounted to atranslatable support.
 17. A computer-implemented method as in claim 16,wherein the translatable support comprises the moveable head.
 18. Acomputer-implemented method as in any preceding claim, wherein thegenerating of the image comprises capturing a plurality of sub-images bythe at least one camera, and the generating further comprises assemblingthe plurality of sub-images to generate the image.
 19. Acomputer-implemented method as in claim 18, wherein a second of theplurality of sub-images is captured after motion of the at least camerarelative to a first of the plurality of sub-images.
 20. Acomputer-implemented method as in any of claims 18 to 19, wherein theassembling comprises stitching the plurality of sub-images to create theimage.
 21. A computer-implemented method as in any preceding claim,further comprising processing the image to generate data related to oneor more of a position, a higher order derivative of location, avelocity, an acceleration, an anomalous condition, and a non-anomalouscondition of a movable component of the computer numerically controlledmachine captured in the image.
 22. A computer-implemented method as inclaim 21, further comprising initiating or terminating an action basedon the generated data.
 23. A computer-implemented method as in claim 22,wherein the movable component is disposed in a fixed spatialrelationship to the movable head, and wherein the method furthercomprises using the data to update software controlling operation of thecomputer numerically controlled machine with the one or more of amovable head position and a higher order derivative thereof.
 24. Acomputer-implemented method as in any of claims 21 to 23, wherein themovable component comprises an identifiable mark on the movable head.25. A computer-implemented method as in any of claims 21 to 24, whereinthe movable component comprises the movable head and/or a gantry.
 26. Acomputer-implemented method as in any preceding claim, furthercomprising processing the image using one or more mathematicaloperations on the image and one or more additional images of the workingarea, the mathematical operation resulting in an improved image foranalyzing imaged objects in the image relative to the image alone.
 27. Acomputer-implemented method as in claim 26, comprising capturing the oneor more additional images of the working area in conjunction withcausing a change in operation of a component of the computer numericallycontrolled machine.
 28. A computer-implemented method as in claim 27,wherein the change in operation comprises at least one of changing alight output of one or more lights between taking the image and the oneor more additional images, changing a position of the component betweentaking the image and the one or more additional images, and vibratingthe at least one camera while taking the image and/or the one or moreadditional images.
 29. A computer-implemented method as in any of claims26 to 28, wherein the improved image comprises one or more ofsharpening, correction of lighting artifacts, averaging, edge detection,and noise elimination relative to the image.
 30. A computer-implementedmethod as in any of claims 26 to 29, wherein the one or more additionalimages are generated with differing lighting conditions created by oneor more light sources inside the interior space.
 31. Acomputer-implemented method as in claim 30, wherein the one or morelight sources comprise light resulting from operation of laser.
 32. Acomputer-implemented method as in any preceding claim, furthercomprising triggering the at least one camera based on a signal from asensor integrated into the computer numerically controlled machine,wherein the sensor is not a user-operable camera control.
 33. A computerreadable medium comprising a non-transitory machine-readable mediumstoring instructions that, when executed by at least one programmableprocessor, cause the at least one programmable processor to performoperations comprising: commanding a movable head configured to deliverelectromagnetic energy to a part of a working area defined by limitswithin which the movable head can cause delivery of the electromagneticenergy, the working area being inside an interior space of a computernumerically controlled machine, the interior space being defined by ahousing comprising an openable barrier that attenuates transmission oflight between the interior space and an exterior of the computernumerically controlled machine when the openable barrier is in a closedposition, the computer numerically controlled machine comprising aninterlock that prevents emission of the electromagnetic energy whendetecting that the openable barrier is not in the closed position, thecommanding resulting in the computer numerically controlled machineexecuting operations of a motion plan for causing movement of themovable head to deliver the electromagnetic energy to effect a change ina material at least partially contained within the interior space; andgenerating an image including at least half of the working area, thegenerating occurring when the interlock is not preventing the emissionof the electromagnetic energy.
 34. A computer numerically controlledmachine comprising: a housing comprising an openable barrier thatattenuates transmission of light between an interior space and anexterior of the computer numerically controlled machine when theopenable barrier is in a closed position; a working area inside theinterior space; a movable head configured to deliver electromagneticenergy to a part of the working area, which is defined by limits withinwhich the movable head can cause delivery of the electromagnetic energy,an interlock that prevents emission of the electromagnetic energy whendetecting that the openable barrier is not in the closed position; oneor more programmable processors configured to execute commands thatresult in execution of operations of a motion plan for causing movementof the movable head to deliver the electromagnetic energy to effect achange in a material at least partially contained within the interiorspace; and a camera configured to generate an image including at leasthalf of the working area while the interlock is not preventing theemission of the electromagnetic energy.
 35. A computer-implementedmethod comprising: commanding a computer numerically controlled machinecomprising a movable head configured to deliver electromagnetic energyto a part of a working area defined by limits within which the movablehead can cause delivery of the electromagnetic energy, the working areabeing inside an interior space of the laser computer numericallycontrolled machine, the interior space being defined by a housingcomprising an openable barrier that attenuates transmission of lightbetween the interior space and an exterior of the computer numericallycontrolled machine when the openable barrier is in a closed position,the commanding resulting in the computer numerically controlled machineexecuting operations of a motion plan for causing movement of themovable head to deliver the electromagnetic energy to effect a change ina material at least partially contained within the interior space;temporarily preventing emission of the electromagnetic energy; andgenerating an image including at least half of the working area with atleast one camera, the generating occurring when the openable barrier isin the closed position and during the temporality preventing of theemission of the electromagnetic energy.
 36. A computer-implementedmethod as in claim 35, wherein the temporarily preventing comprisescommanding an interlock to prevent the emission of the electromagneticenergy, the interlock also preventing emission of the electromagneticenergy when detecting that the openable barrier is not in the closedposition.
 37. A laser computer numerically controlled machinecomprising: a camera; a sensor that is integrated into the computernumerically controlled machine; and a controller configured to performoperations comprising: triggering the camera based on a signal receivedfrom the sensor, the signal reflecting occurrence of an event other thana command by a user of the computer numerically controlled machine tocapture an image.
 38. A laser computer numerically controlled machine asin claim 37, wherein the sensor has another use besides triggering thecamera.
 39. A laser computer numerically controlled machine as in any ofclaims 37 to 38, further comprising an openable barrier that attenuatestransmission of light between an interior space of the laser computernumerically controlled machine and an exterior of the laser computernumerically controlled machine when the openable barrier is in a closedposition.
 40. A laser computer numerically controlled machine as in anyof claims 37 to 39, wherein the event comprises at least one of a movingthe openable barrier from the closed position, a moving of the openablebarrier to the closed position, a motion of the laser computernumerically controlled machine, a fire inside the interior space, ananomalous condition of a component of the laser computer numericallycontrolled machine, a temperature inside the interior space exceeding athreshold, and presence of electromagnetic radiation in an unexpectedplace and/or at an unexpected time.
 41. A laser computer numericallycontrolled machine as in any of claims 37 to 40, wherein the camera isattached to the openable barrier.